PAPER: A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping
By Sebastian Thrun, Dieter Fox, and Wolfram Burgard.
Abstract: We present an incremental method for concurrent mapping and localization for mobile robots equipped with 2D laser range finders. The approach uses a fast implementation of scan-matching for mapping, paired with a sample-based probabilistic method for localization. Compact 3D maps are generated using a multi-resolution approach adopted from the computer graphics literature, fed by data from a dual laser system. Our approach builds 3D maps of large, cyclic environments in real-time. It is remarkably robust. Experimental results illustrate that accurate maps of large, cyclic environments can be generated even in the absence of any odometric data.
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This paper won the Best Conference paper award at the IEEE International Conference on Robotics and Automation, 2000 in San Francisco.
@INPROCEEDINGS{Thrun00a,
AUTHOR = {Thrun, S. and Burgard, W. and Fox, D.},
TITLE = {A Real-Time Algorithm for Mobile Robot Mapping
With Applications to Multi-Robot and {3D} Mapping},
YEAR = {2000},
BOOKTITLE = {Proceedings of the IEEE International Conference
on Robotics and Automation (ICRA)},
PUBLISHER = {IEEE},
ADDRESS = {San Francisco, CA}
}