7 accepted papers
The Bayes filter is the basis for many state-of-the-art robot localization algorithms. In the literature, its derivation typically requires the robot controls to be chosen independently of all other variables. However, this assumption is not valid for a robotic system that is to act purposefully. Th
Man-made environments such as households, offices, or factory floors are typically composed of linear structures. Accordingly, polylines are a natural way to accurately represent their geometry. In this paper, we propose a novel probabilistic method to extract polylines from raw 2-D laser range scan…
Most robot mapping techniques for lidar sensors tessellate the environment into pixels or voxels and assume uniformity of the environment within them. Although intuitive, this representation entails disadvantages: The resulting grid maps exhibit aliasing effects and are not differentiable. In this l
To detect changes in an environment, one has to decide whether a set of recent observations is incompatible with a set of previous observations. For binary, lidar-based grid maps, this is essentially the case when the laser beam traverses a voxel that has been observed as occupied, or when the beam
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs probabilistic state estimation approaches combined with a model of
A popular class of lidar-based grid mapping algorithms computes for each map cell the probability that it reflects an incident laser beam. These algorithms typically determine the map as the set of reflection probabilities that maximizes the likelihood of the underlying laser data and do not compute…
This paper provides a new fully-decentralized al- gorithm for Collaborative Localization based on the extended Kalman filter. The major challenge in decentralized collaborative localization is to track inter-robot dependencies â which is particularly difficult in situations where sustained synchro…