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Spatial Abstraction and Mapping

This project involves the development of a formalism and methodology for making the transition from raw noisy sensor data collected by a roving robot to a map composed of object models and finally to a simple abstract map described in terms of discrete places of interest. An important early stage of such processing is the ability to select, represent and find a discrete set of places of interest or landmarks that will make up a map. Associated problems are those of using a map to accurately localize a mobile robot and generating intelligent exploration plans to verify and elaborate the map.A compressed postscript copy of a paper of this work can be downloaded here:
ftp://ftp.cim.mcgill/pub/mobile-robot/paper:RA94-model-based-localization.pz.Z

G. Dudek, P. Mackenzie (CRIM).
 


Annual Report

Mon Jun 26 21:22:20 GMT 2000