| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 412862 | Robotics and Autonomous Systems | 2006 | 13 Pages |
Abstract
This paper presents an efficient geometric approach to the Simultaneous Localization and Mapping problem based on an Extended Kalman Filter. The map representation and building process is formulated, fully implemented and successfully experimented in different indoor environments with different robots. The use of orthogonal shape constraints is proposed to deal with the inconsistency of the estimation. Built maps are successfully used for the navigation of two different service robots: an interactive tour guide robot, and an assistive walking aid for the frail elderly.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Diego Rodriguez-Losada, Fernando Matia, Ramon Galan,