Localization and mapping in urban environments using mobile robots

Journal of the Brazilian Computer Society

Wolf, Denis F.¹  Sukhatme, Gaurav S.¹  University of Southern California, Los Angeles, USA¹  University of São Paulo, São Carlos, BRAZIL¹ 

关键词: Mobile robotics;    Mapping;    and Localization.;   

DOI  :  10.1007/BF03194257

学科分类：农业科学（综合）

来源: Springer U K

【 摘 要 】

Mapping is a basic capability for mobile robots. Most applications demand some level of knowledge about the environment to be accomplished. Most mapping approaches in the literature are designed to perform in small structured (indoor) environments. This paper addresses the problems of localization and mapping in large urban (outdoor) environments. Due to their complexity, lack of structure and dimensions, urban environments presents several difficulties for the mapping task. Our approach has been extensively tested and validated in realistic situations. Our experimental results include maps of several city blocks and a performance analysis of the algorithms proposed.

【 授权许可】

Unknown