Simultaneous map building and localization for an autonomous mobile robot

  title={Simultaneous map building and localization for an autonomous mobile robot},
  author={John J. Leonard and Hugh F. Durrant-Whyte},
  journal={Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91},
  pages={1442-1447 vol.3}
  • J. Leonard, H. Durrant-Whyte
  • Published 3 November 1991
  • Computer Science
  • Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91
Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori information. This problem is difficult because of the following paradox: to move precisely, a mobile robot must have an accurate environment map; however, to build an accurate map, the mobile robot's sensing locations must be known precisely. In this way, simultaneous map building and localization can… 
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