Localization and mapping in urban environments using mobile robots

Detalhes bibliográficos
Autor(a) principal: Wolf,Denis F.
Data de Publicação: 2007
Outros Autores: Sukhatme,Gaurav S.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Computer Society
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002007000400006
Resumo: 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.
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spelling Localization and mapping in urban environments using mobile robotsMobile roboticsMappingLocalizationMapping 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.Sociedade Brasileira de Computação2007-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002007000400006Journal of the Brazilian Computer Society v.13 n.4 2007reponame:Journal of the Brazilian Computer Societyinstname:Sociedade Brasileira de Computação (SBC)instacron:UFRGS10.1007/BF03194257info:eu-repo/semantics/openAccessWolf,Denis F.Sukhatme,Gaurav S.eng2010-05-24T00:00:00Zoai:scielo:S0104-65002007000400006Revistahttps://journal-bcs.springeropen.com/PUBhttps://old.scielo.br/oai/scielo-oai.phpjbcs@icmc.sc.usp.br1678-48040104-6500opendoar:2010-05-24T00:00Journal of the Brazilian Computer Society - Sociedade Brasileira de Computação (SBC)false
dc.title.none.fl_str_mv Localization and mapping in urban environments using mobile robots
title Localization and mapping in urban environments using mobile robots
spellingShingle Localization and mapping in urban environments using mobile robots
Wolf,Denis F.
Mobile robotics
Mapping
Localization
title_short Localization and mapping in urban environments using mobile robots
title_full Localization and mapping in urban environments using mobile robots
title_fullStr Localization and mapping in urban environments using mobile robots
title_full_unstemmed Localization and mapping in urban environments using mobile robots
title_sort Localization and mapping in urban environments using mobile robots
author Wolf,Denis F.
author_facet Wolf,Denis F.
Sukhatme,Gaurav S.
author_role author
author2 Sukhatme,Gaurav S.
author2_role author
dc.contributor.author.fl_str_mv Wolf,Denis F.
Sukhatme,Gaurav S.
dc.subject.por.fl_str_mv Mobile robotics
Mapping
Localization
topic Mobile robotics
Mapping
Localization
description 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.
publishDate 2007
dc.date.none.fl_str_mv 2007-12-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002007000400006
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002007000400006
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1007/BF03194257
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Sociedade Brasileira de Computação
publisher.none.fl_str_mv Sociedade Brasileira de Computação
dc.source.none.fl_str_mv Journal of the Brazilian Computer Society v.13 n.4 2007
reponame:Journal of the Brazilian Computer Society
instname:Sociedade Brasileira de Computação (SBC)
instacron:UFRGS
instname_str Sociedade Brasileira de Computação (SBC)
instacron_str UFRGS
institution UFRGS
reponame_str Journal of the Brazilian Computer Society
collection Journal of the Brazilian Computer Society
repository.name.fl_str_mv Journal of the Brazilian Computer Society - Sociedade Brasileira de Computação (SBC)
repository.mail.fl_str_mv jbcs@icmc.sc.usp.br
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