Computer Science Department
School of Computer Science, Carnegie Mellon University
A Probabilistic Approach for Concurrent Map Acquisition and
Localization for Mobile Robots
Sebastian Thrun, Wolfram Burgard*, Dieter Fox*
Keywords: Autonomous systems, Baum-Welch, mobile robots, navigation,
localization, mapping, positioning, probabilistic algorithms, robot
This paper addresses the problem of building large-scale geometric
maps for indoor environments with mobile robots. It poses the map building
problem as a constrained, probabilistic maximum-likelihood estimation
problem. It then devises a practical algorithm for generating the most likely
map from data, along with the most likely path taken by the robot.
Experimental results in cyclic environments of sizes up to 80 by 25 meters
illustrate the appropriateness of the approach.
*Institut fur Informatik III, Universat Bonn, Germany