D. Hähnel, D. Schulz, and W. Burgard
Mobile Robot Mapping in Populated Environments
Advanced Robotics, 2003
Abstract
The problem of learning maps with mobile
robots has received considerable attention over the past years.
Most of the approaches, however, 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 method to track
multiple people and to incorporate the estimates of the tracking
technique into the mapping process. The resulting maps are more
accurate since the number of spurious objects is reduced and since
the robustness of range registration is improved. Our approach has
been implemented and tested on real robots 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
@Article{haehnel03populated,
author = {H{\"a}hnel, D. and Schulz, D. and Burgard, W.},
title = {Mobile Robot Mapping in Populated Environments},
journal = {Advanced Robotics},
volume = 17,
number = 7,
pages = {579-598},
year = {2003}
}