The SPmap: a probabilistic framework for simultaneous localization and map building

@article{Castellanos1999TheSA,
  title={The SPmap: a probabilistic framework for simultaneous localization and map building},
  author={Jos{\'e} A. Castellanos and J. M. M. Montiel and Jos{\'e} Neira and Juan D. Tard{\'o}s},
  journal={IEEE Trans. Robotics and Automation},
  year={1999},
  volume={15},
  pages={948-952}
}
This article describes a rigorous and complete framework for the simultaneous localization and map building problem for mobile robots: the symmetries and perturbations map (SPmap), which is based on a general probabilistic representation of uncertain geometric information. We present a complete experiment with a LabMateTM mobile robot navigating in a human-made indoor environment and equipped with a rotating two-dimensional (2-D) laser rangefinder. Experiments validate the appropriateness of… CONTINUE READING
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