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

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4 Author(s)
Castellanos, J.A. ; Dept. de Inf. e Ingenieria de Sistemas, Zaragoza Univ., Spain ; Montiel, J.M.M. ; Neira, J. ; Tardos, J.D.

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 LabMateTM 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

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 5 )

Date of Publication:

Oct 1999

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