ICRA 2011 Paper Abstract


Paper TuP110.4

Liu, Juan (Julia) (Palo Alto Research Center), Zhang, Ying (Palo Alto Research Center)

Real-Time Outline Mapping for Mobile Blind Robots

Scheduled for presentation during the Regular Sessions "Localization and Mapping III" (TuP110), Tuesday, May 10, 2011, 14:25−14:40, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Mapping, Sensor Fusion, Localization


Mapping is important for mobile robots in unknown environments. However, existing work largely relies on long range sensors such as expensive laser range finders and cameras. Little has been done for robots with only short range sensors such as bumpers or wall sensors. In this paper, we fill in the gap and propose a method for real time indoor mapping for {em blind} robots, i.e. robots that have only short-range sensors. Several key problems for mapping are addressed in this paper: (1) generating map from a single robot's odometry and short-range sensor data, (2) combining and collating maps from multiple robots to generate a coherent bigger map, and (3) detecting loops in the map and performing loop closure.



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