D. Fox, W. Burgard, and S. Thrun
Probabilistic Methods for Mobile Robot Mapping
Proc. of the IJCAI-99 Workshop on Adaptive Spatial Representations of Dynamic Environments
Abstract
The problem of map building is the problem of determining the
location of entities-of-interest in a global frame of reference.
Over the last years, probabilistic methods have shown to be well
suited for dealing with the uncertainties involved in mobile robot
map building. In this paper we introduce a general probabilistic
approach to concurrent mapping and localization. This method poses
the mapping problem as a statistical maximum likelihood problem, and
devises an efficient algorithm for search in likelihood space. We
furthermore address the problem of using occupancy grid maps for
path planning in highly dynamic environments. The approaches have
been tested extensively and several experimental results are given
in the paper.
Download
Full paper [.ps.gz]
(1241 kb, 10 pages)
Bibtex
@TECHREPORT{Fox99Mul,
AUTHOR
= {Fox, D. and Burgard, W. and Thrun, S.},
TITLE
= {Probabilistic Methods for Mobile Robot Mapping},
YEAR
= {1999},
BOOKTITLE = {Proc.~of the IJCAI-99 Workshop on Adaptive Spatial Representations of Dynamic Environments},
NOTE
= {Invited presentation}
}
[Back to my research]
[Back to my
list of publications]