Title:
Intrinsic Localization and Mapping With 2 Applications: Diffusion Mapping and Marco Polo Localization
Intrinsic Localization and Mapping With 2 Applications: Diffusion Mapping and Marco Polo Localization
Author(s)
Alegre, Fernando
Dellaert, Frank
Martinson, Eric Beowulf
Dellaert, Frank
Martinson, Eric Beowulf
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
We investigate Intrinsic Localization and Mapping
(ILM) for teams of mobile robots, a multi-robot variant of
SLAM where the robots themselves are used as landmarks.
We develop what is essentially a straightforward application
of Bayesian estimation to the problem, and present two complimentary
views on the associated optimization problem that
provide insight into the problem and allows one to devise initialization
strategies, indispensable in practice. We also provide
a discussion of the degrees of freedom and ambiguities
in the solution. Finally, we introduce two applications of ILM
that bring out its potential: Diffusion Mapping and Marco Polo
localization.
Sponsor
Date Issued
2003
Extent
Resource Type
Text
Resource Subtype
Paper