Accession Number : ADA332317
Title : A Probabilistic Approach for Concurrent Map Acquisition and Localization for Mobile Robots
Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA DEPT OF COMPUTER SCIENCE
Personal Author(s) : Thrun, Sebastian ; Burgard, Wolfram ; Fox, Dieter
PDF Url : ADA332317
Report Date : OCT 1997
Pagination or Media Count : 31
Abstract : This paper addresses the problem of building large scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach.
Descriptors : *ROBOTS, *MAPS, ALGORITHMS, EXPERIMENTAL DATA, MAXIMUM LIKELIHOOD ESTIMATION, AUTONOMOUS NAVIGATION.
Subject Categories : Cybernetics
Distribution Statement : APPROVED FOR PUBLIC RELEASE