Conference Proceeding

Uncertain map making in natural environments

Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse
05/1996; DOI:10.1109/ROBOT.1996.506847 ISBN: 0-7803-2988-0 pp.1048 - 1053 vol.2 In proceeding of: Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, Volume: 2
Source: IEEE Xplore

ABSTRACT Building on previous work on incremental natural scene modelling
for mobile robot navigation, we focus in this paper on the problem of
representing and managing uncertainties. The environment is composed of
ground regions and objects. Objects (e.g., rocks) are represented by an
uncertain state vector (location) and a variance-covariance matrix.
Their shapes are approximated by ellipsoids. Landmarks are defined as
objects with specific properties (discrimination, accuracy) that permit
to use them for robot localization and for anchoring the environment
model. Model updating is based on an extended Kalman filter.
Experimental results are given that show the construction of a
consistent model over tens of meters

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Keywords

anchoring
 
extended Kalman filter
 
incremental natural scene modelling
 
Landmarks
 
meters
 
mobile robot navigation
 
Model updating
 
Objects
 
robot localization
 
specific properties
 
uncertain state vector