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Simultaneous Localization and Map Building

  • Juan Andrade-Cetto
  • Alberto Sanfeliu
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 23)

Abstract

Perception happens locally, in the egocentric frame of reference of the robot. In order to ensure correspondence between the local representation of the environment built by the landmark extraction processes, and the global representation contained in a map, the robot must estimate its own position with respect to this map.

Keywords

Mobile Robot Data Association Simultaneous Localization Compatibility Test Sequential Innovation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

  • Juan Andrade-Cetto
    • 1
  • Alberto Sanfeliu
    • 1
  1. 1.Institut de Robòtica i Informàtica Industrial Universitat Politècnica de Catalunya – Consejo Superior de Investigaciones Científicas Llorens Artigas 4–6 08028 BarcelonaSpain

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