C. Stachniss, W. Burgard
Mapping and Exploration with Mobile Robots using Coverage Maps
In Proc. of the IEEE Conference on Intelligent Robots and Systems
(IROS), 2003.
Abstract:
Exploration and mapping belongs to the fundamental tasks of mobile
robots. In the past, many approaches have used occupancy grid maps
to represent the environment during the map building process.
Occupancy grids, however, are based on the assumption that each cell
is either occupied or free. In this paper we introduce coverage
maps as an alternative way of representing the environment of a
robot. Coverage maps store for each cell of a given grid a
posterior about the amount the corresponding cell is covered by an
obstacle. We also present a model that allows us to update coverage
maps upon input obtained from proximity sensors. We furthermore
describe how to use coverage maps for a decision theoretic approach
to exploration. Finally we present experimental results
illustrating that coverage maps can be used to efficiently learn
highly accurate models even if noisy sensors such as ultrasounds are
used.
Bibtex:
@InProceedings{stachniss03iros,
author = {Stachniss, C. and Burgard, W.},
title = {Mapping and Exploration with Mobile Robots using Coverage Maps},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
year = {2003}
}
PDF-File:
paper pdf-file (897 kB).