A Set Theoretic Approach to Dynamic Robot Localization and Mapping

Abstract

This paper addresses the localization and mapping problem for a robot moving through a (possibly) unknown environment where indistinguishable landmarks can be detected. A set theoretic approach to the problem is presented. Computationally efficient algorithms for measurementto-feature matching, estimation of landmark positions, estimation of robot location… (More)
DOI: 10.1023/B:AURO.0000008670.09004.ce

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