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    block this user Juan Andrade-Cetto Trusted member

    Research Associate

    Institu de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain

    Concurrent map building and localization on indoor dynamic environments

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    A system that builds and maintains a dynamic map for a mobile robot is presented. A learning rule associated to each observed landmark is used to compute its robustness. The position of the robot during map construction is estimated by combining sensor readings, motion commands, and the current map state by means of an Extended Kalman Filter. The combination of landmark strength validation and Kalman filtering for map updating and robot position estimation allows for robust learning of moderately dynamic indoor environments. Keywords: Mobile robot map learning, mobile robot navigation, CML,

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    Title : Concurrent map building and localization on indoor dynamic environments
    Abstract : A system that builds and maintains a dynamic map for a mobile robot is presented. A learning rule associated to each observed landmark is used to compute its robustness. The position of the robot during map construction is estimated by combining sensor readings, motion commands, and the current map state by means of an Extended Kalman Filter. The combination of landmark strength validation and Kalman filtering for map updating and robot position estimation allows for robust learning of moderately dynamic indoor environments. Keywords: Mobile robot map learning, mobile robot navigation, CML,
    Subject : unspecified
    Area : Computer Science
    Language : English
    Affiliations : 
    Url : http://www-iri.upc.es/groups/lrobots/publications/andrade_ijprai
    Doi : 10.1.1.102.4460

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    Juan's Peer Evaluation activity

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    • Juan Andrade-Cetto, Research Associate, Institu de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain.
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