An autonomous robotic system for mapping abandoned mines

Advances in Neural Information Processing Systems

Volumn , Issue , 2004, Pages

  Ferguson, D ^a   Morris, A ^a   Hahnel D ^b   Baker, C ^a   Omohundro, Z ^a   Reverte, C ^a   Thayer, S ^a   Whittaker, C ^a   Whittaker, W ^a   Burgard, W ^b   Thrun, S ^c  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b UNIVERSITY OF FREIBURG   (Germany)

^c Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

MARKOV PROCESSES; ROBOTICS; THREE DIMENSIONAL;

3D C-SPACE; AUTONOMOUS ROBOTIC SYSTEMS; LARGE MINES; MARKOV RANDOM FIELDS; RANGE SCANS; ROBOTIC SYSTEMS;

ABANDONED MINES;

EID: 84899000150     PISSN: 10495258     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. C. Baker, Z. Omohundro, S. Thayer, W. Whittaker, M. Montemerlo, and S. Thrun. A case study in robotic mapping of abandoned mines. FSR-03.
2. P. Besl and N. McKay. A method for registration of 3d shapes. PAMI 14(2), 1992.
3. M. Bosse, P. Newman, M. Soika, W. Feiten, J. Leonard, and S. Teller. An atlas framework for scalable mapping. ICRA-03.
4. A. Eliazar and R. Parr. DP-SLAM: Fast, robust simultaneous localization and mapping without predetermined landmarks. IJCAI-03.
5. Anshul Gupta, George Karypis, and Vipin Kumar. Highly scalable parallel algorithms for sparse matrix factorization. Trans. Parallel and Distrib. Systems, 8(5), 1997.
6. J.-S. Gutmann and K. Konolige. Incremental mapping of large cyclic environments. CIRA-00.
7. D. Ḧahnel, W. Burgard, B. Wegbreit, and S. Thrun. Towards lazy data association in SLAM. 11th International Symposium of Robotics Research, Sienna, 2003.
8. D. Ḧahnel, D. Fox, W. Burgard, and S. Thrun. A highly effcient Fast SLAM algorithm for generating cyclic maps of large-scale environments from raw laser range measurements. Submitted to IROS-03.
9. D. Ḧahnel, D. Schulz, and W. Burgard. Map building with mobile robots in populated environments. IROS-02.
10. J.-C. Latombe. Robot Motion Planning. Kluwer, 1991.
11. F. Lu and E. Milios. Globally consistent range scan alignment for environment mapping. Autonomous Robots: 4, 1997.
12. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit. Fast SLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges. IJCAI- 03.
13. K. Murphy. Bayesian map learning in dynamic environments. NIPS-99.
14. K.P. Murphy, Y. Weiss, and M.I. Jordan. Loopy belief propagation for approximate inference: An empirical study. UAI-99.
15. W. H. Press. Numerical recipes in C: The art of scientific computing. Cambridge Univ. Press, 1988.
16. R. Simmons, D. Apfelbaum, W. Burgard, M. Fox, D. an Moors, S. Thrun, and H. Younes. Coordination for multi-robot exploration and mapping. AAAI-00.
17. M. J. Wainwright. Stochastic processes on graphs with cycles: Geometric and variational approaches. PhD thesis, MIT, 2002.