C. Stachniss, W. Burgard
Exploration with Active Loop-Closing for FastSLAM
In Proc. of the IEEE Conference on Intelligent Robots and Systems
(IROS), 2004.
Abstract:
Acquiring models of the environment belongs to the fundamental tasks of
mobile robots. In the last few years several researchers have focused on the
problem of simultaneous localization and mapping (SLAM). Classic SLAM
approaches are passive in the sense that they only process the perceived
sensor data and do not influence the motion of the mobile robot. In this paper
we present a novel and integrated approach that combines autonomous
exploration with simultaneous localization and mapping. Our method uses a
grid-based version of the FastSLAM algorithm and at each point in time
considers actions to actively close loops during exploration. By re-entering
already visited areas the robot reduces its localization error and this way
learns more accurate maps. Experimental results presented in this paper
illustrate the advantage of our method over pervious approaches lacking the
ability to actively close loops.
Bibtex:
@InProceedings{stachniss04iros,
author = {Stachniss, C. and Burgard, W.},
title = {Exploration with Active Loop-Closing for FastSLAM},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2004}
}
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