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Simultaneous localization and map building: a global topological model with local metric maps

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3 Author(s)
Tomatis, N. ; Autonomous Syst. Lab, Swiss Fed. Inst. of Technol. Lausanne, Switzerland ; Nourbakhsh, I. ; Siegwart, R.

An approach combining the metric and topological paradigm for simultaneous localization and map building is presented The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global metric consistency and permits both precision and robustness. The method uses a 360 degree laser scanner in order to extract corners and openings for the topological approach and lines for the metric localization. The approach has been tested in a 30 × 25 m portion of the institute building with the fully autonomous robot Donald Duck An experiment consists of a complete exploration and a set of test missions. Three experiments have been performed for a total of 15 test missions, which have been randomly defined and completed with a success ratio of 87%

Published in:

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:1 )

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