A Simultaneous Localization and Mapping Algorithm for Field Robots Based on Laser Range Sensor and Stereo Vision

2009 ◽  
Author(s):  
Ta-Te Lin ◽  
Chih-Wei Li ◽  
Lun-Cheng Chu
Keyword(s):  
Stereo Vision ◽  
Simultaneous Localization And Mapping ◽  
Laser Range ◽  
Mapping Algorithm ◽  
Field Robots ◽  
Range Sensor ◽  
Localization And Mapping

scholarly journals A novel approach for the global localization problem

2012 ◽  
Vol 22 ◽  
pp. 106-112
Author(s):  
Alfredo Toriz ◽  
Abraham Sánchez ◽  
Maria A. Osorio
Keyword(s):  
Data Structure ◽  
Simultaneous Localization And Mapping ◽  
Random Tree ◽  
Localization Problem ◽  
Global Localization ◽  
Mapping Algorithm ◽  
B Splines ◽  
Novel Approach ◽  
Localization And Mapping ◽  
Safe Region

This paper describes a simultaneous planning localization and mapping (SPLAM) methodology focussed on the global localization problem, where the robot explores the environment efficiently and also considers the requisites of the simultaneous localization and mapping algorithm. The method is based on the randomized incremental generation of a data structure called Sensor-based Random Tree, which represents a roadmap of the explored area with an associated safe region. A continuous localization procedure based on B-Splines features of the safe region is integrated in the scheme.

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