Laser-Based Position Tracking and Map Generation
Outline
Motivation
Navigation Strategies
Increase of Robustness
Sensor Specification
Existing Mapping Approaches
Quality of the Generated Maps
Selection of Features
Uniqueness of the Estimated Pose
Feature Extraction
Complexity Reduction
Split-and-Merge for Feature Extraction
Sensor Data Filtering
DLM - Principle
Geometrical Fusion of Data
DLM - Structure
Applications of the System
Fusion of Different Sensor Inputs
System Structure
Cost Functions of Localization
Feedback of Vehicle Control Signals
Path Planning Results
Results - Position Repeatability
Examples of the Map Reconstruction
Topological Modeling
Abstraction of knowledge within the system
Conclusions
Additional Information
Email: burschka@cs.jhu.edu
Home Page: http://www.cs.jhu.edu/~burschka