Mobile robot navigation in unknown environments requires the concurrent estimation of the mobile robot localization with respect to a base reference and the construction of a global map of the navigation area. In this paper we present a comparative study of the performance of the localization and map building processes using two distinct sensorial systems: a rotating 2D laser rangefinder, and a trinocular stereo vision system.
Sensor influence in the performance of simultaneous mobile robot localization and map building
Lect Notes Control Inf Sci
2008-04-30
10 pages
Article/Chapter (Book)
Electronic Resource
English
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