Large-scale concurrent mapping and localization

John J. Leonard

doi:10.1117/12.403732

16 October 2000 Large-scale concurrent mapping and localization

John J. Leonard

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403732
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

The goal of concurrent mapping and localization (CML) is to enable a mobile robot to build a map of an unknown environment, while simultaneously using this map to navigate. This paper discusses some of the challenges that are encountered in the development of practical real-time implementations of CML for one or more autonomous mobile robots operating in large-scale environments.

Citation Download Citation

John J. Leonard "Large-scale concurrent mapping and localization", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403732

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