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Concurrent map building and localization on indoor dynamic environments

AuthorsAndrade-Cetto, Juan CSIC ORCID ; Sanfeliu, Alberto CSIC ORCID
KeywordsMobile robot map learning
Mobile robot navigation
Extended Kalman filter
Issue Date2002
PublisherWorld Scientific Publishing
CitationInternational Journal of Pattern Recognition and Artificial Intelligence 16(3): 361-374 (2002)
AbstractA system that builds and maintains a dynamic map for a mobile robot is presented. A learning rule associated to each observed landmark is used to compute its robustness. The position of the robot during map construction is estimated by combining sensor readings, motion commands, and the current map state by means of an Extended Kalman Filter. The combination of landmark strength validation and Kalman filtering for map updating and robot position estimation allows for robust learning of moderately dynamic indoor environments.
Publisher version (URL)http://dx.doi.org/10.1142/S0218001402001745
Appears in Collections:(IRII) Artículos
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