Research on mobile robot navigation has produced two major paradigms for mapping indoorenvironments: grid-based and topological. While grid-based methods produce accurate metric m...
ior-based robots, planning is necessary to elaborate abstract plans that resolve complex navigational tasks. Usually maps of the environment are used to plan the robot motion and t...
The problem of concurrent mapping and localization has received considerable attention in the mobile robotics community. Existing approachescan largely be grouped into two distinc...
Sebastian Thrun, Jens-Steffen Gutmann, Dieter Fox,...
Abstract. We present a purely vision-based scheme for learning a topological representation of an open environment. The system represents selected places by local views of the surr...