NDLI: Combinatorial maps for simultaneous localization and map building (SLAM)

Content Provider	IEEE Xplore Digital Library
Author	Dufourd, D. Chatila, R. Luzeaux, D.
Copyright Year	2004
Description	Author affiliation: Centre Tech. d' Arcueil, DGA, Arcueil, France (Dufourd, D.)
Abstract	In this article, we focus on environment models for the well-known simultaneous localisation and map building (SLAM) problem, which has received considerable attention in the robotics community over the past few years. First, we compare different existing map representations to discuss their advantages and limitations in the scope of indoor robotics applications. Then, we define a highly structured map model which combines different kinds of representations, including space-based, grid-based as well as feature-based formats. This model also provides topological information such as adjacency links, which are similar to the topological layer used in geographical information systems. We explain how to build and update maps according to this model, using a mobile robot equipped with a laser scanner and underline how the structure of our representation may increase robustness in a Kalman-based SLAM process. Finally, we show some preliminary experiments and propose a few perspectives for this work.
Starting Page	1047
Ending Page	1052
File Size	447201
Page Count	6
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389535
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Mobile robots Dissolved gas analysis Buildings Orbital robotics Uncertainty Path planning Information systems Binary decision diagrams Laser modes
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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