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.
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