Portal de Periódicos da CAPES

The SPmap: a probabilistic framework for simultaneous localization and map building

1999; Institute of Electrical and Electronics Engineers; Volume: 15; Issue: 5 Linguagem: Inglês

10.1109/70.795798

2374-958X

José A. Castellanos, J. M. M. Montiel, José Neira, Juan D. Tardós,

Robotic Path Planning Algorithms

This article describes a rigorous and complete framework for the simultaneous localization and map building problem for mobile robots: the symmetries and perturbation map (SPmap), which is based on a general probabilistic representation of uncertain geometric information. We present a complete experiment with a LabMate/sup TM/ mobile robot navigating in a human-made indoor environment and equipped with a rotating 2D laser rangefinder. Experiments validate the appropriateness of our approach and provide a real measurement of the precision of the algorithms.