Open Access
On the representation and estimation of spatial uncertainty. [for mobile robot]
Randall Smith,Peter Cheeseman +1 more
TLDR
The method presented can be generalized to six degrees offreedom and provides a practical means of mating the relationships among objects, as well as estimating the uncertainty associated with the relationships.About:
The article was published on 1987-01-01 and is currently open access. It has received 1421 citations till now. The article focuses on the topics: Mobile robot.read more
Citations
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MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
Proceedings ArticleDOI
Parallel Tracking and Mapping for Small AR Workspaces
Georg Klein,David W. Murray +1 more
TL;DR: A system specifically designed to track a hand-held camera in a small AR workspace, processed in parallel threads on a dual-core computer, that produces detailed maps with thousands of landmarks which can be tracked at frame-rate with accuracy and robustness rivalling that of state-of-the-art model-based systems.
Journal ArticleDOI
Simultaneous localization and mapping: part I
TL;DR: This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method.
Journal ArticleDOI
A solution to the simultaneous localization and map building (SLAM) problem
TL;DR: The paper proves that a solution to the SLAM problem is indeed possible and discusses a number of key issues raised by the solution including suboptimal map-building algorithms and map management.
Fastslam: a factored solution to the simultaneous localization and mapping problem with unknown data association
TL;DR: This paper presents FastSLAM, an algorithm that recursively estimates the full posterior distribution over robot pose and landmark locations, yet scales logarithmically with the number of landmarks in the map.
References
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Book
Applied Optimal Estimation
TL;DR: This is the first book on the optimal estimation that places its major emphasis on practical applications, treating the subject more from an engineering than a mathematical orientation, and the theory and practice of optimal estimation is presented.
Proceedings ArticleDOI
Position referencing and consistent world modeling for mobile robots
Raja Chatila,Jean-Paul Laumond +1 more
TL;DR: The approach proposed in this paper relies on the use of a multisensory system, favo ring of the data collected by the more accurate sensor in a given situation, averaging of different but consistent measurements of the same entity weighted with their associated uncertainties.
Journal ArticleDOI
Symbolic Error Analysis and Robot Planning
TL;DR: The mathe matical underpinnings for building programs (plan checkers) that carry out the second approach automatically, which uses a geometric, computer-aided design (CAD) type of data base to infer the effects of actions and the propa gation of errors.
Proceedings ArticleDOI
Visual map making for a mobile robot
TL;DR: The key idea is to use a relational map, which is rubbery and stretchy, rather than try to place observations in a 2-d coordinate system.