Transcription of Robotic Mapping: A Survey - Sebastian Thrun
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Robotic Mapping: A Survey - Sebastian Thrun
Robotic mapping : A SurveySebastian ThrunFebruary 2002 CMU-CS-02-111 School of Computer ScienceCarnegie Mellon UniversityPittsburgh, PA 15213 AbstractThis article provides a comprehensive introduction into the field of Robotic mapping , with a focus on indoormapping. It describes and compares various probabilistic techniques, as they are presently being appliedto a vast array of mobile robot mapping problems. The history of Robotic mapping is also described, alongwith an extensive list of open research research is sponsored by by DARPA s MARS Program (Contract number N66001-01-C-6018) and the National ScienceFoundation (CAREER grant number IIS-9876136 and regular grant number IIS-9877033), all of which is gratefully views and conclusions contained in this document are those of the author and should not be interpreted as necessarily repre-senting official policies or endorsements, either expressed or implied, of the United States Government or any of the :Bayes filters, Robotic mapping , exploration, expectation maximization algorithm, Kalmanfilters, mobile robots1 IntroductionRobotic mapping has been a highly active research area in robotics and AI for at
The problem of robotic mapping is that of acquiring a spatial model of a robot’s environment. Maps are commonly used for robot navigation (e.g., localization) [7, 51].
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