D. Hähnel, R. Triebel, W. Burgard, S. Thrun
Map Building with Mobile Robots in Dynamic Environments.
In Proc. of the IEEE International Conference on Robotics and
Automation (ICRA), 2003.
Abstract
The problem of generating maps with mobile robots has received considerable
attention over the past years. Most of the techniques developed so far have
been designed for situations in which the environment is static during the
mapping process. Dynamic objects, however, can lead to serious errors in
the resulting maps such as spurious objects or misalignments due to
localization errors. In this paper we consider the problem of creating maps
with mobile robots in dynamic environments. We present a new approach that
interleaves mapping and localization with a probabilistic technique to
identify spurious measurements. In several experiments we demonstrate that
our algorithm generates accurate 2d and 3d in different kinds of dynamic
indoor and outdoor environments. We also use our algorithm to isolate the
dynamic objects and to generate three-dimensional representation of them.
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Bibtex
@InProceedings{Haehnel03Dynamic,
author = {H{\"a}hnel, D. and Triebel,
R. and Burgard, W. and Thrun, S.},
title = {Map Building with
Mobile Robots in Dynamic Environments},
booktitle = {Proc.~of the IEEE International Conference
on Robotics and Automation (ICRA)},
year = {2003},
}