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
| dc.contributor.author | Dellaert, Frank | |
| dc.contributor.author | Alegre, Fernando | |
| dc.contributor.author | Martinson, Eric Beowulf | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
| dc.date.accessioned | 2011-04-06T21:58:20Z | |
| dc.date.available | 2011-04-06T21:58:20Z | |
| dc.date.issued | 2003-09 | |
| dc.description | ©2003 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 2003 IEEE International Conference on Robotics and Automation (ICRA), 14-19 September 2003, Taipei, Taiwan. | |
| dc.description | DOI: 10.1109/ROBOT.2003.1241943 | |
| dc.description.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. | en_US |
| dc.identifier.citation | Dellaert, F., Alegre, F., & Martinson, E.B. (2003). “Intrinsic Localization and Mapping with 2 Applications: Diffusion Mapping and Macro Polo Localization”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2003), 14-19 September 2003, Vol. 2, 2344-2349. | en_US |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38430 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Bayesian estimation | en_US |
| dc.subject | Diffusion mapping | en_US |
| dc.subject | Intrinsic localization and mapping | en_US |
| dc.subject | Landmarks | en_US |
| dc.subject | Mobile robots | en_US |
| dc.subject | Monte Carlo localization | en_US |
| dc.subject | Odometry measurements | en_US |
| dc.title | Intrinsic Localization and Mapping with 2 Applications: Diffusion Mapping and Marco Polo Localization | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Dellaert, Frank | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | dac80074-d9d8-4358-b6eb-397d95bdc868 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |