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Proceedings Paper

Large-scale concurrent mapping and localization
Author(s): John J. Leonard
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Paper Abstract

The goal of concurrent mapping and localization (CML) is to enable a mobile robot to build a map of an unknown environment, while simultaneously using this map to navigate. This paper discusses some of the challenges that are encountered in the development of practical real-time implementations of CML for one or more autonomous mobile robots operating in large-scale environments.

Paper Details

Date Published: 16 October 2000
PDF: 7 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403732
Show Author Affiliations
John J. Leonard, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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