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Building Segment-Based Maps Without Pose Information
 

Summary: INVITED
P A P E R
Building Segment-Based Maps
Without Pose Information
Mobilerobotscanconstructmapsoftheirsurroundingsusinglaserrangescannersthat
detect walls and vertical objects; no data on robot position and orientation is needed.
By Francesco Amigoni, Member IEEE, Simone Gasparini, Student Member IEEE, and
Maria Gini, Member IEEE
ABSTRACT | Most map building methods employed by mobile
robots are based on the assumption that an estimate of robot
poses can be obtained from odometry readings or from
observing landmarks or other robots. In this paper we propose
methods to build a global geometric map by integrating scans
collected by laser range scanners without using any knowledge
about the robots' poses. We consider scans that are collections
of line segments. Our approach increases the flexibility in data
collection, since robots do not need to see each other during
mapping, and data can be collected by multiple robots or a
single robot in one or multiple sessions. Experimental results
show the effectiveness of our approach in different types of

  

Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano

 

Collections: Computer Technologies and Information Sciences