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*

October 1997

Keywords: Autonomous systems, Baum-Welch, mobile robots, navigation, localization, mapping, positioning, probabilistic algorithms, robot mapping

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.

29 pages

*Institut fur Informatik III, Universat Bonn, Germany

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