Localization and Mapping in Urban Environments Using Mobile Robots

Denis F. WolfGaurav S. Sukhatme

Mapping is a basic capability for mobile robots. Mostapplications demand some level of knowledge about theenvironment to be accomplished. Most mapping approachesin the literature are designed to perform in smallstructured (indoor) environments. This paper addressesthe problems of localization and mapping in large urban(outdoor) environments. Due to their complexity, lack ofstructure and dimensions, urban environments presentsseveral difficulties for the mapping task. Our approachhas been extensively tested and validated in realistic situations.Our experimental results include maps of severalcity blocks and a performance analysis of the algorithmsproposed.

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