Applying domain knowledge to slam using virtual measurements

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Date
2010-05Author
Trevor, Alexander J. B.
Rogers, John G.
Nieto-Granda, Carlos
Christensen, Henrik I.
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Show full item recordAbstract
Simultaneous Localization and Mapping (SLAM)
aims to estimate the maximum likelihood map and robot
pose based on a robot’s control and sensor measurements.
In structured environments, such as human environments, we
might have additional domain knowledge that could be applied
to produce higher quality mapping results.We present a method
for using virtual measurements, which are measurements between
two features in our map. To demonstrate this, we present
a system that uses such virtual measurements to relate visually
detected points to walls detected with a laser scanner.