This paper proposes an alternative solution to a mapping problem in two different cases; when bearing measurement to features (landmarks) and odometry are measured and when local position of features are measured. Our approach named M-SEIFD (Mapping by Sequential Estimation of Inter-Feature Distances) first estimates inter-feature distances, then finds global position of all features by enhanced multi-dimensional scaling (MDS). M-SEIFD is different from the conventional SLAM methods based on Bayesian filtering in that robot self-localization is not compulsory and that M-SEIFD is able to utilize prior information about relative distances among features directly. We show that M-SEIFD is able to achieve a decent map of features both in simulation and in real-world environment with a mobile robot. © 2008 Springer Berlin Heidelberg.
CITATION STYLE
Ueta, A., Yairi, T., Kanazaki, H., & MacHida, K. (2008). Map building by sequential estimation of inter-feature distances. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5351 LNAI, pp. 442–453). https://doi.org/10.1007/978-3-540-89197-0_41
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