Publication Detail

Explore and Return: Experimental Validation of Real- time Concurrent Mapping and Localization.

Paul Newman, John Leonard, Juan D. Tardos
8 pp.
MITSG 03-20J
$3.50 (domestic); 5.50 (international). DOM

Here engineers describe a real-time implementation of feature-based concurrent mapping and localization running on a mobile robot in a dynamic indoor environment. Several innovations are combined to demonstrate the ability for a mobile robot to autonomously return back to its starting position within a few centimeters of precision, despite the presence of numerous people walking through the environment.

type: Technical reports

Parent Project

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