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dc.contributor.authorTeniente, Ernesto H.-
dc.contributor.authorValencia, Rafael-
dc.contributor.authorAndrade-Cetto, Juan-
dc.identifier.citationROBOT 2011es_ES
dc.descriptionPresentado al Workshop de Robótica Experimental celebrado en Sevilla del 28 al 29 de noviembre de 2011.es_ES
dc.description.abstractPose SLAM is the variant of SLAM where only the robot trajectory is estimated and in which landmarks are solely used to compute relative constraints between robot poses. In previous work, we have developed efficient methods to build Pose SLAM maps that ponder the information content on odometry and measurement links to keep the graph of poses sparse. In this paper we show results of Pose SLAM mapping with our custom built 3D laser and an outdoor all-terrain mobile robot. Finally, we argue that Pose SLAM graphs can be directly used as belief roadmaps and, thus, used for path planning under uncertainty. We show how to plan trajectories with the lowest accumulated robot pose uncertainty, i.e., the most reliable path to the goal, taking into account the encoded uncertainty in the map. Results of this navigation strategy are demonstrated with our outdoor robot.es_ES
dc.description.sponsorshipThis work has been partially supported by the Mexican Council of Science and Technology with PhD Scholarships to E.H. Teniente and R. Valencia, by the Spanish Ministry of Science and Innovation under projects PAU (DPI2008-06022) and MIPRCV Consolider Ingenio (CSD2007-018), and by the CEEDS (FP7-ICT-2009-5-95682) and INTELLACT (FP7-ICT2009-6-269959) projects of the EU.es_ES
dc.titleDense outdoor 3D mapping and navigation with Pose SLAMes_ES
dc.typecomunicación de congresoes_ES
dc.description.peerreviewedPeer reviewedes_ES
Appears in Collections:(IRII) Comunicaciones congresos
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