Collaborative exploration for map construction
نویسندگان
چکیده
We consider the problem of map learning while maintaining ground-truth pose estimates. Map learning is important in tasks that requir ea model of the envir onmentor some of its featur es. As a robot collects data, uncertainty about its position accumulates and corrupts its knowledge of the positions from which observations are taken. We addr essthis problem by employing cooperative localization; that is, deploying a se cond r obot to observe the other as it explor es, thereby establishing a virtual tether, and enabling an accurate estimate of the robot's p osition while it c onstructs the map. This pap er presents our approach to this pr oblem in the context of learning a set of visual landmarks useful for pose estimation. In addition to developing a formalism and conc ept,we validate our results experimentally and present quantitative results demonstrating the performance of the method.
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Collaborative exploration for the construction of visual maps
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