Feature-Based Mapping in Real, Large Scale Environments Using an Ultrasonic Array

  title={Feature-Based Mapping in Real, Large Scale Environments Using an Ultrasonic Array},
  author={Kok Seng Chong and Lindsay Kleeman},
  journal={I. J. Robotics Res.},
This paper presents a strategy for achieving practical mapping navigation using a wheeled mobile robot equipped with an advanced sonar sensor. The original mapping navigation experiment, carried out with the same robot configuration, builds a feature map consisting of commonplace indoor landmarks crucial for localisation, namely planes, corners and edges. The map exhaustively maintains covariance matrices among all features, thus presents a time and memory impediment to practical navigation in… CONTINUE READING
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