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Probabilistic mapping of an environment by a mobile robot

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3 Author(s)
Thrun, S. ; Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Fox, D. ; Burgard, W.

This paper addresses the problem of building large-scale maps of indoor environments with mobile robots. It proposes a statistical approach that describes the map building problem as a constrained maximum-likelihood estimation problem, for which it devises a practical algorithm. Experimental results in large, cyclic environments illustrate the appropriateness of the approach

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:2 )

Date of Conference:

16-20 May 1998