Towards 3D mapping in large urban environments

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 1, Issue , 2004, Pages 419-424

  Howard, Andrew ^a   Wolf, Denis F ^a   Sukhatme, Gaurav S ^a  

^a University of Southern California ^*  (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DATA REDUCTION; ENVIRONMENTAL IMPACT; FEATURE EXTRACTION; GLOBAL POSITIONING SYSTEM; MAPPING; URBAN PLANNING;

LARGE URBAN ENVIRONMENTS; LASER-BASED MAPPING; MAP GENERATION;

MOBILE ROBOTS;

EID: 14044268889     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. S. Thrun, "Robotic mapping: A survey," in Exploring Artificial Intelligence in the New Millenium, G. Lakemeyer and B. Nebel, Eds. Morgan Kaufmann, 2002.
2. F. Dellaert, D. Fox, W. Burgard, and S. Thrun, "Monte carlo localization for mobile robots," in IEEE International Conference on Robotics and Automation (ICRA99), May 1999.
3. S. Thrun, D. Fox, W. Burgard, and F. Dellaert, "Robust Monte Carlo localization for mobile robots," Artificial Intelligence Journal, vol. 128, no. 1-2, pp. 99-141, 2001.
4. J. Gutmann and K. Konolige, "Incremental mapping of large cyclic environments," in Proceedingsof the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), 2000.
5. F. Lu and E. Milios, "Globally consistent range scan alignment for environment mapping," Autonomous Robots, vol. 4, pp. 333-349, 1997.
6. A. Howard, "Multi-robot mapping using manifold representations, " in IEEE International Conference on Robotics and Automation, New Orleans, Louisiana, Apr 2004, pp. 4198-4203.
7. S. Borthwick and H. Durrant-Whyte, "Simultaneous localisation and map building for autonomous guided vehicle," in Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, vol. 2, 1994, pp. 761-8.
8. J. J. Leonard and H. Durrant-Whyte, "Simultaneous map building and localization for an autonomous mobile robot," in Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems, vol. 3, 1991, pp. 1442-1447.
9. S. Thrun, D. Fox, and W. Burgard, "A probabilistic approach to concurrent mapping and localisation for mobile robots," Machine Learning, vol. 31, no. 5, pp. 29-55, 1998, joint issue with Autonomous Robots.
10. S. Thrun, "A probabilistic online mapping algorithm for teams of mobile robots," International Journal of Robotics Research, vol. 20, no. 5, pp. 335-363, 2001.
11. D. Haehnel, W. Burgard, D. Fox, and S. Thrun, "An efficient fastslam algorithm for generating maps of large-scale cyclic environments from raw laser range measurements," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, U.S.A. Oct 2003.
12. M. Bosse, P. Newman, J. Leonard, M. Soika, W. Feiten, and S. Teller, "An Atlas framework for scalable mapping," in IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003.
13. M. Montemerlo and S. Thrun, "Large-scale robotic 3d mapping of urban structures," in 9th International Symposium on Experimental Robotics, Singapore, June 2004, to appear.
14. H. Zho and R. Shibasaki, "Reconstructing urban 3d model using vehicle-borne laser range scanners," in Third International Conference on 3-D Digital Imaging and Modelling, Quebec City, Quebec, Canada, May 2001, pp. 349-356.
15. D. Fox, "KLD-sampling: Adaptive particle filters," in Advances in Neural Information Processing Systems 14. MIT Press, 2001.
16. C. Martin and S. Thrun, "Real-time acquisition of compact volumetric maps with mobile robots," in Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, California, U.S.A., April 2000.
17. M. A. Fischler and R. C. Bolles, "Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography," Communications of the ACM, vol. 24, pp. 381-395, 1981.