Robust Mapping and Localization in Indoor Environments Using Sonar Data

  title={Robust Mapping and Localization in Indoor Environments Using Sonar Data},
  author={Juan D. Tard{\'o}s and Jos{\'e} Neira and Paul Newman and John J. Leonard},
  journal={I. J. Robotics Res.},
In this paper we describe a new technique for the creation of featurebased stochastic maps using standard Polaroid sonar sensors. The fundamental contributions of our proposal are: (1) a perceptual grouping process that permits the robust identification and localization of environmental features, such as straight segments and corners, from the sparse and noisy sonar data; (2) a map joining technique that allows the system to build a sequence of independent limited-size stochastic maps and join… CONTINUE READING
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