Publication Detail

Mapping Partially Observable Features from Multiple Uncertain Vantage Points.

John Leonard, Richard J. Rikoski, Paul Newman
2002
33 pp.
MITSG 03-17J
$9.50 (domestic); 11.50 (international). DOM
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URL: http://cml.mit.edu/~jleonard/pubs/leonard_etal_ijrr_w_ransac_result.pdf

In this paper engineers present a generalized framework for feature-based concurrent mapping and localization (CML) that enables mapping of partially observable features from multiple uncertain vantage points. This enables CML to be performed in situations where individual measurements provide weak geometric constraints, such as with wide-beam sonar sensors.

type: Technical reports

Parent Project

Project No.: 1999-RCM-3
Title: Integrated Mapping and Navigation for Autonomous Underwater Vehicles

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