Uncertain map making in natural environments

Conference Paper · May 1996with4 Reads
DOI: 10.1109/ROBOT.1996.506847 · Source: IEEE Xplore
Conference: Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, Volume: 2

    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