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This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter es ...
This paper presents the extension and experimental validation of the widely used EKF1-based SLAM2 algorithm to 3D space. It uses planar features extracted probabilistically from dense three-dimensional point clouds generated by a rotating 2D laser scanner. ...
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...
The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...
This paper presents an approach to solve the SLAM problem in the stochastic map framework based on the concept of the relative map. The idea consists in introducing a map state, which only contains quantities invariant under translation and rotation. This ...
In this paper simultaneous localization and map building is performed with a hybrid, metric - topological, approach. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency ...
Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper ...
This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real da ...
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...
This paper starts with a discussion of the open challenges in the SLAM problem. In our opinion they can be grouped in two main and distinct areas: convergence of the built map and computation requirement for real world application. To deal with the previou ...