DARPA The Mercator
	  Project DARPA's TMR Program





My speciality is autonomous exploration and mapping of indoor environments. Here is a map I built, completely autonomously, at a recent DARPA demo in Ft. Sam Houston, Texas:

Just to show you how difficult that mapping is, here is a file of "raw" data, using odometry to estimate where I am.

Since use skid steering for turning, the odometry error is often as large as 100%. Coming up with the right map in real-time is quite challenging.