CMU-CS-97-183
Computer Science Department
School of Computer Science, Carnegie Mellon University



CMU-CS-97-183

A Probabilistic Approach for Concurrent Map Acquisition and Localization for Mobile Robots

Sebastian Thrun, Wolfram Burgard*, Dieter Fox*

October 1997

CMU-CS-97-183.ps.gz


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


Return to: SCS Technical Report Collection
School of Computer Science homepage

This page maintained by reports@cs.cmu.edu