Mapping for the support of first responders in critical domains

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 64, Issue 1, 2011, Pages 7-31

  Kleiner, Alexander ^a   Dornhege, Christian ^b  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b UNIVERSITY OF FREIBURG   (Germany)

Author keywords

HRI; Mapping; Operator assistance; SLAM; Teleoperation

Indexed keywords

CRITICAL DOMAIN; DATA ASSOCIATION; FIRST RESPONDERS; GLOBAL CONSISTENCY; GRAPH-BASED; HRI; LASER RANGE FINDERS; MAXIMUM LIKELIHOOD METHODS; MISSION PLANNING; OPERATOR ASSISTANCE; REAL-TIME MAPPING; ROBOT CONTROLS; ROBOT NAVIGATION; ROBOT PLATFORM; SAFETY ZONE; SCAN MATCHING METHOD; SLAM; TARGET IDENTIFICATION; TELE-OPERATIONS; TELEOPERATED; TELEOPERATED ROBOTS; URBAN SEARCH AND RESCUE;

BOMBS (ORDNANCE); IMAGE MATCHING; MAPPING; MAXIMUM LIKELIHOOD; REMOTE CONTROL; ROBOT PROGRAMMING; ROBOTICS; ROBOTS;

SEARCH ENGINES;

EID: 80053301152     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-010-9520-x     Document Type: Conference Paper

References (35)

1. Burgard, W., Stachniss, C., Grisetti, G., Steder, B., Kümmerle, R., Dornhege, C.: Ruhnke, M., Kleiner, A., Tardós, J.D.: A comparison of slam algorithms based on a graph of relations. In: Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (IROS). St. Louis, MO (2009)
2. J Canny 1986 A computational approach to edge detection IEEE Trans. Pattern Anal. Mach. Intell. 8 6 679 698 10.1109/TPAMI.1986.4767851
3. C Chen H Wang 2007 Large-scale loop-closing by fusing range data and aerial image Int. J. Robot. Autom. 22 2 160 169 (Pubitemid 47184208)
4. Cox, I.J.: Blanche: position estimation for an autonomous robot vehicle. In: Iyengar, S.S., Elfes, A. (eds.) Autonomous Mobile Robots: Control, Planning, and Architecture, vol. 2, pp. 285-292. IEEE Computer Society Press, Los Alamitos (1991)
5. Dellaert, F.: Square Root SAM. In: Proc. of Robotics: Science and Systems (RSS), pp. 177-184. Cambridge, MA (2005)
6. Eustice, R., Singh, H., Leonard, J.J.: Exactly sparse delayed-state filters. In: Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pp. 2428-2435. Barcelona, Spain (2005)
7. C Früh A Zakhor 2004 An automated method for large-scale, ground-based city model acquisition Int. J. Comput. Vis. 60 5 24 10.1023/B:VISI.0000027787.82851.b6
8. Grisetti, G., Stachniss C., Burgard, W.: Improving grid-based SLAM with rao-blackwellized particle filters by adaptive proposals and selective resampling. In: Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pp. 667-672. Barcelona, Spain (2005)
9. Grisetti, G., Stachniss, C., Burgard, W.: Improving grid-based SLAM with Rao-Black-wellized particle filters by adaptive proposals and selective resampling. In: Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pp. 2443-2448. Barcelona, Spain (2005)
10. Grisetti, G., Grzonka, S., Stachniss, C., Pfaff, P., Burgard, W.: Efficient estimation of accurate maximum likelihood maps in 3D. In: Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS). San Diego, CA (2007)
11. G Grisetti C Stachniss W Burgard 2007 Improved techniques for grid mapping with rao-blackwellized particle filters IEEE Trans. Robot. Autom. 23 34 46 (Pubitemid 46443340)
12. Grisetti, G., Stachniss, C., Grzonka, S., Burgard, W.: A tree parameterization for efficiently computing maximum likelihood maps using gradient descent. In: Proc. of Robotics: Science and Systems (RSS). Atlanta, GA (2007)
13. G Grisetti C Stachniss W Burgard 2009 Non-linear constraint network optimization for efficient map learning IEEE Trans. Intell. Transp. Syst. 10 3 428 439 10.1109/TITS.2009.2026444
14. Gutmann, J.-S., Konolige, K.: Incremental mapping of large cyclic environments. In: Proc. of the IEEE Int. Symposium on Computational Intelligence in Robotics and Automation (CIRA) (1999)
15. Gutmann, J.-S.: Robuste Navigation autonomer mobiler Systeme. PhD thesis, Albert-Ludwigs-Universität Freiburg. ISBN 3-89838-241-9 (2000)
16. Hähnel, D.: Mapping with Mobile Robots. PhD thesis, Universität Freiburg. Freiburg, Deutschland (2005)
17. Julier, S., Uhlmann, J., Durrant-Whyte, H.: A new approach for filtering nonlinear systems. In: Proc. of the American Control Conference, pp. 1628-1632. Seattle, WA (1995)
18. Kaess, M., Ranganathan, A., Dellaert, F.: iSAM: fast incremental smoothing and mapping with efficient data association. In: Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA). Rome, Italy (2007)
19. A Kleiner C Scrapper A Jacoff 2009 RoboCupRescue Interleague Challenge 2009: bridging the gap between simulation and reality Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems (PerMIS '09) ACM New York 115 121 10.1145/1865909.1865933
20. Korah, T., Rasmussen, C.: Probabilistic contour extraction with model-switching for vehicle localization. Intelligent Vehicles Symposium, 2004 IEEE, pp. 710-715 (2004)
21. Kümmerle, R., Steder, B., Dornhege, C., Kleiner, A., Grisetti, G., Burgard, W.: Large scale graph-based SLAM using aerial images as prior information. In: Proceedings of Robotics: Science and Systems (RSS). Seattle, WA (2009)
22. JJ Leonard HF Durrant-Whyte 1991 Mobile robot localization by tracking geometric beacons IEEE Trans. Robot. Autom. 7 4 376 382 10.1109/70.88147 (Pubitemid 21660980)
23. Leung, K.Y.K., Clark, C.M., Huissoon, J.P.: Localization in urban environments by matching ground level video images with an aerial image. In: Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA). Pasadena, CA (2008)
24. F Lu E Milios 1997 Globally consistent range scan alignment for environment mapping Auton. Robots 4 333 349 10.1023/A:1008854305733 (Pubitemid 127508781)
25. F Lu E Milios 1997 Robot pose estimation in unknown environments by matching 2d range scans J. Intell. Robot. Syst. 18 3 249 275 10.1023/A:1007957421070 (Pubitemid 127509054)
26. Montemerlo, M., Thrun, S., Koller, D., Wegbreit, B.: FastSLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges. In: Proc. of the Int. Conf. on Artificial Intelligence (IJCAI), pp. 1151-1156. Acapulco, Mexico (2003)
27. Moravec, H.P., Elfes, A.E.: High resolution maps from wide angle sonar. In: Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pp. 116-121 (1985)
28. HP Moravec 1988 Sensor fusion in certainty grids for mobile robots AI Mag. 9 2 61 74
29. Olson, E., Leonard, J., Teller, S.: Fast iterative optimization of pose graphs with poor initial estimates. In: Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pp. 2262-2269 (2006) (Pubitemid 44940403)
30. Ranganathan, A., Kaess, M., Dellaert, F.: Loopy sam. In: Proc. of the Int. Conf. on Artificial Intelligence (IJCAI) (2007)
31. Smith, R., Self, M., Cheeseman, P.: Estimating uncertain spatial realtionships in robotics. In: Cox, I., Wilfong, G., (eds.) Autonomous Robot Vehicles, pp. 167-193. Springer Verlag (1990)
32. Stachniss, C., Frese, U., Grisetti, G.: OpenSLAM.org-Give Your Algorithm to the Community. http://www.openslam.org (2007)
33. S Thrun Y Liu D Koller AY Ng Z Ghahramani H Durrant-Whyte 2004 Simultaneous localization and mapping with sparse extended information filters Int. J. Rob. Res. 23 7/8 693 716 10.1177/0278364904045479
34. Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press (2005)
35. Uhlmann, J.: Dynamic Map Building and Localization: New Theoretical Foundations. PhD thesis, University of Oxford (1995)