S. Thrun, W. Burgard, and D. Fox
A real-time algorithm for mobile
robot mapping with applications to multi-robot and 3D mapping
Proc. of the IEEE International Conference on Robotics
& Automation (ICRA)
Abstract
We present an incremental method for concurrent mapping and localization
for mobile robots equipped with 2D laser range finders. The approach uses
a fast implementation of scan-matching for mapping, paired with a sample-based
probabilistic method for localization. Compact 3D maps are generated
using a multi-resolution approach adopted from the computer graphics literature,
fed by data from a dual laser system. Our approach builds 3D maps of large,
cyclic environments in real-time. It is remarkably robust. Experimental
results illustrate that accurate maps of large, cyclic environments can
be generated even in the absence of any odometric data.
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Bibtex
@INPROCEEDINGS{Thr00Rea,
AUTHOR = {Thrun, S. and Burgard, W. and
Fox, D.},
TITLE = {A Real-Time Algorithm for
Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping},
YEAR = {2000},
BOOKTITLE = ICRA
}