迟健男, 徐心和. 移动机器人即时定位与地图创建问题研究[J]. 机器人, 2004, 26(1): 92-96..
CHI Jian-nan, XU Xin-he. RESEARCH ON SIMULTANEOUS LOCALIZATION AND MAPPING OF MOBILE ROBOT. ROBOT, 2004, 26(1): 92-96..
Abstract:Feature-based mobile robot simultaneous localization and mapping (SLAM) is an open problem in the field of robotics. This paper summarizes the current research on SLAM in three aspects: feature extraction,methods and data association. An overview of mobile robot localization is given,with an emphasis on the main problems of SLAM and solutions to them. Meanwhile,feature extraction in an indoor environment and the principles of data association are discussed. Finally, future trend in this field is pointed out.
[1] Jensfelt P,Cgrustebseb H.Laser based position acpuisition and tracking in an indoor environment[A].Proceedings of IEEE International Symposium on Robotics and Automation[C].Mexico: 1998,l.331-338. [2] Davison A J,Nobuyuki K.3D simultaneous localization and map building using active vision for a robot moving on undulating terrain[A].Proceedings of the IEEE International Conference on Computer Vision and Recognization[C].Hawail: 2001,1.384-391 . [3] Se S,Lowe D,Little J.Vision-based mobile robot localization and mapping using scale-invariant features[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Korea: 2001.2051-2058. [4] Leonard J,Durrant-Whyte H F.Dynamic map building for an autonomous mobile robot[J].International Journal of Robotics Research,1992,11(4): 286-298. [5] Moutarlier P,Chatila R.Stochastic multisensory data fusion for mobile robot localization and environmental modeling[A].Proceedings of the International Symposium on Robotics Research[C].1990.85-94. [6] Montemerlo M,Thrun S.FastSLAM: a factored solution to the simultaneous localization and mapping problem[A].Proceedings of the Eighteenth National Conference on Artificial Intelligence[C].Edmonton: AAAI Press,2002.593-598. [7] Hu S,Hu D D,Gu O.Landmark-based navigation of mobile robots in manufacturing[A].IEEE International Conference on Emerging Technologies &; Factory Automatin[C].Spain: 1999.18-21. [8] Leonard J,Durrant-White H F.Directed Sonar Sensing for Mobile Robot Navigation[M].Boston: Kluwer Academic Publishers,1992.208-216. [9] Thrun S.Particle filters in robotics[A].Proceedings of Uncertainty in AI (UAI- 2002)[C].San Francisco: Morgan Kaufmann Publishers,2002.511-518. [10] Feder H J S.Simultantous stochastic mapping and localization[D].USA: MIT,2001. [11] Tomatis N,Siegwart R.Combining topological and metric: A natural integration for simultaneous localization and map building[A].Proceedings of the Fourth European Workshop on Advanced Mobile Robots[C].Sweden: 2001.21-29. [12] Hollerbach J,Koditschek D.A computationally efficient method for large-scale concurrent mapping and localization[A].Proceedings of the Ninth International Symposium on Robotics Research[C].London: Springer-verlag,2001.169-176. [13] Newman P M.On the Structure and Solution of the Simultaneous Localization and Mapping Problem[D].Australian: The University of Sydney,1999.