Laser-Based Position Tracking and Map Generation

28-Aug-00


Click here to start


Table of Contents

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

Author: Darius Burschka

Email: burschka@ieee.org

Home Page: http://www.cs.jhu.edu/~burschka