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- PDF superior Contributions to Localization, Mapping and Navigation in Mobile Robotics
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- Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera
Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high levels of autonomy in robot navigation and robustness in vehicle positioning. Robot localization and mapping is commonly related to cartography, combining science, technique and computation to build a trajectory map that reality can be modelle Robot localization and mapping is commonly related to cartography, combining science, technique and computation to build a trajectory map that reality can be modelled in ways that communicate spatial information effectively.
PDF superior Contributions to Localization, Mapping and Navigation in Mobile Robotics
Show all documents This contrasts with the most common employment of occupancy grids [Mor85] in probabilistic localization and mapping where the robot is equipped with laser scanners [Gri05]. In general, these methods do not provide a measure of the uncertainty in the estimation, and hence they are not directly applicable to probabilistic robotics. There are some exceptions, like the method proposed in [Lu97a], which considers the sen- sor measurement uncertainty and the residuals from the least square error optimiza- tion. However, it does not take into account the uncertainty in the correspondence between points, which largely dominates the overall uncertainty.
Skip to search form Skip to main content You are currently offline. Some features of the site may not work correctly. DOI: Pfister Published Computer Science. Mobile robot localization and mapping in unknown environments is a fundamental requirement for effective autonomous navigation.
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Simultaneous localization and mapping SLAM is the process by which a mobile robot can construct a map of an unknown environment and simultaneously compute its location using the map 1. SLAM has been formulated and solved as a theoretical problem in many different forms. It has been implemented in several domains from indoor to outdoor, and the possibility of combining robotic in surgery issues has captured the attention of the medical community. The common point is that the accuracy of the navigation affects the success and the results of a task, independently from application field. Since its beginning, the SLAM problem has been developed and optimized in different ways. The first two are also referred as filtering techniques, where the position and map estimates are augmented and refined by incorporating new measurements when they become available.
Robotic mapping is a discipline related to computer vision  and cartography. The goal for an autonomous robot is to be able to construct or use a map outdoor use or floor plan indoor use and to localize itself and its recharging bases or beacons in it. Evolutionarily shaped blind action may suffice to keep some animals alive. For some insects for example, the environment is not interpreted as a map, and they survive only with a triggered response. A slightly more elaborated navigation strategy dramatically enhances the capabilities of the robot. Cognitive maps enable planning capacities and use of current perceptions, memorized events, and expected consequences. The robot has two sources of information: the idiothetic and the allothetic sources.
Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera
This chapter can be considered as an introduction to mobile robotics. This chapter covers a brief mathematical description of mobile robots that consists of kinematic and dynamics with nonholonomic constrains applied to wheeled robots. Then, a terrain representation and mapping survey has been conducted.
As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping SLAM and its techniques and concepts related to robotics. Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.
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