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Appearance-based concurrent map building and localization

✍ Scribed by J.M. Porta; B.J.A. Kröse


Book ID
104090773
Publisher
Elsevier Science
Year
2006
Tongue
English
Weight
709 KB
Volume
54
Category
Article
ISSN
0921-8890

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✦ Synopsis


In appearance-based robot localization the environment map does not represent geometrical features but consists of an appearance map, which is a collection of robot poses and corresponding sensor observations. In this paper, we describe a concurrent map-building and localization (CML) system based on a multi-hypotheses tracker that is able to build and refine autonomously the appearance map required for localization as the robot moves in the environment. The results included in this paper validate our approach.


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