D. Hähnel, D. Schulz, W. Burgard
Map Building with Mobile Robots in Populated Environments
In Proc. of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), 2002.
Abstract
The problem of generating maps with mobile robots has received
considerable attention over the past years. However, most of the
approaches focus on the problem of generating mostly consistent maps
and assume that the environment is static during the data-acquisition
phase. In this paper we consider the problem of creating maps with
mobile robots in populated environments. Our approach uses a
probabilistic approach to tracking multiple people and to incorporate
the estimated positions of the people into the mapping process. The
resulting maps are more accurate since corrupted readings treated
accordingly during the matching phase and since the number of
artificial objects in the resulting maps is reduced. Our approach has
been implemented and tested on real robot systems in indoor and
outdoor scenarios. We present several experiments illustrating the
capabilities of our approach to generate accurate 2d and 3d maps.
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Bibtex
@InProceedings{Haehnel02Map,
author = {H{\"a}hnel, D. and Schulz,
D. and Burgard, W.},
title = {Map Building with Mobile Robots in Populated Environments},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2002},
}