Probabilistic Mapping of an Environment by a Mobile Robot

This paper addresses the problem of building large-scale maps of indoor environments with mobile robots. It proposes a statisticalapproach that phrases the map buildingproblem as a constrained maximum-likelihood estimation problem, for which it devises a practical algorithm. Experimental results in large, cyclic environments illustrate the appropriateness of the approach.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Sebastian Thrun, Dieter Fox, Wolfram Burgard
• Keywords: Building Large-scale Maps, ICRA 1998, Indoor Environments, Maximum-likelihood Estimation Problem, Robotics