The correspondence problem in topological metric mapping - using absolute metric maps to close cycles

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 3213, Issue , 2004, Pages 232-239

  Jefferies, Margaret E ^a   Cosgrove, Michael C ^a   Baker, Jesse T ^a   Yeap, Wai Kiang ^b  

^a UNIVERSITY OF WAIKATO   (New Zealand)

^b AUCKLAND UNIVERSITY OF TECHNOLOGY   (New Zealand)

Author keywords

[No Author keywords available]

Indexed keywords

KNOWLEDGE BASED SYSTEMS; MAPPING;

ACCUMULATED ERRORS; AUTONOMOUS MOBILE ROBOT; CORRESPONDENCE PROBLEMS; DUPLICATE REPRESENTATION; FALSE POSITIVE; FRAME OF REFERENCE; SIMULTANEOUS LOCALISATION AND MAPPINGS; TOPOLOGICAL MAP;

TOPOLOGY;

EID: 35048863426     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/978-3-540-30132-5_36     Document Type: Article

References (20)

1. Hahnel, D., Burgard, W., Fox, D., and Thrun, S. A efficient fastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements, in Proceedings Intelligent Robots and Systems. 2003.
2. Thrun, S., Hahnel, D., Ferguson, D., Montemerlo, M., Triebel, R., Burgard, W., Baker, C, Omohundro, Z., Thayer, S., and Whittaker, W. A system for volumetric robotic mapping of abandoned mines, in Proceedings International Conference on Robotics and Automation. 2003.
3. Hahnel, D., Thrun, S., Wegbreit, b., and Burgard, W. Towards lazy data association in SLAM, in Proceedings 10th International Symposium of Robotics Research. 2003.
4. Gutmann, S. and Konolige, K. Incremental mapping of large cyclic environments, in Proceedings International Symposium on Computational Intelligence in Robotics and Automation. 1999.
5. Kuipers, B., The spatial semantic hierarchy. Artificial Intelligence, 2000. 119. 191-233.
6. Tomatis, N., Nourbakhsh, I., and Siegwart, R. Simultaneous localization and map building: A global topological model with local metric maps, in Proceedings International Conference on Intelligent Robots and Systems. 2001.
7. Bosse, M., Newman, P., Leonard, J., Soika, M., Feiten, W., and Teller, S. An Atlas framework for scalable mapping, in Proceedings International conference on Robotics and Automation. 2003.
8. Yeap, W.K. and Jefferies, M.E., Computing a representation of the local environment. Artificial Intelligence, 1999. 107.265-301.
9. Tomatis, N., Nourbakhsh, I., and Siegwart, R. Hybrid simultaneous localization and map building: closing the loop with multi-hypotheses tracking, in Proceedings IEEE International Conference on Robotics and Automation. 2002. Washington DC, USA.
10. Thrun, S., Learning metric-topological maps for indoor mobile robot navigation. Artificial Intelligence, 1998. 99(1). 21-71.
11. Kuipers, B.J. and Byun, Y.-T. A robust, qualitative method for robot spatial learning, in Proceedings of the National Conference on Artificial Intelligence (AAAI-88). 1988.
12. Yeap, W.K., Towards a computational theory of cognitive maps. Artificial Intelligence, 1988.34. 297-360.
13. Chown, E., Chaplain, S., and Kortenkamp, D., Prototypes, location, and associative networks (PLAN): Towards a unified theory of cognitive mapping. Cognitive Science, 1995.19.1-51.
14. Jefferies, M.E. and Yeap, W.K. Representing the local space qualitatively in a cognitive map. in Proceedings Twentieth annual conference of the Cognitive Society. 1998.
15. Kuipers, B. and Beeson, P. Bootstrap learning for place recognition, in Proceedings 18th International Conference On Artificial Intelligence. 2002.
16. Beeson, P., MacMahon, M., Modayil, J., Provost, J., Savelli, F., and Kuipers, B. Exploiting local perceptual models for topological map building, in Proceedings IJCAI2003 Workshop on Reasoning with Uncertainty in Robotics. 2003.
17. Jefferies, M.E., Weng, W., Baker, J.T., Cosgrove, M.C., and Mayo, M. A hybrid approach to finding cycles in hybrid maps, in Proceedings Australian Conference on Robotics and Automation. 2003.
18. Gallistel, C.R. and Cramer, A.E., Computations on metric maps in mammals: getting oriented and choosing a multi-destination route. The Journal of Experimental Biology, 1996. 199.211-217.
19. Jefferies, M.E., Yeap, W.K., and Baker, J., Robot mapping with a topological map of local space representations, in Advances on Simulation, Systems Theory and Systems Engineering, N.B. Mastorakis, V.V. Kluev, and D. K., Editors. 2002, WSEAS Press. 287294.
20. Rofer, T. Using histogram correlation to create consistent laser scan maps, in Proceedings IEEE International Conference on Intelligent Robotics Systems. 2002.