Building geometric feature based maps for indoor service robots

被引：29
|
作者：
Rodriguez-Losada, Diego [1 ]
Matia, Fernando [1 ]
Galan, Ramon [1 ]
机构：
[1] Tech Univ Madrid, Madrid 28006, Spain
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2006年 / 54卷 / 07期
关键词：
simultaneous localization and mapping; extended Kalman filter; inconsistency; service robot;
D O I：
10.1016/j.robot.2006.04.003
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an efficient geometric approach to the Simultaneous Localization and Mapping problem based on an Extended Kalman Filter. The map representation and building process is formulated, fully implemented and successfully experimented in different indoor environments with different robots. The use of orthogonal shape constraints is proposed to deal with the inconsistency of the estimation. Built maps are successfully used for the navigation of two different service robots: an interactive tour guide robot, and an assistive walking aid for the frail elderly. (C) 2006 Elsevier B.V. All rights reserved.
引用
收藏
页码：546 / 558
页数：13
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