Using visual features to build topological maps of indoor environments

Paul E. Rybski, Franziska Zacharias, Jean Francois Lett, Osama Masoud, Maria Gini, Nikolaos Papanikolopoulos

Research output: Contribution to journalConference articlepeer-review

22 Scopus citations

Abstract

This paper addresses the problem of localization and map construction by a mobile robot in an indoor environment. Instead of trying to build high-fidelity geometric maps, we focus on constructing topological maps as they are less sensitive to poor odometry estimates and position errors. We propose a method for incrementally building topological maps for a robot which uses a panoramic camera to obtain images at various locations along its path and uses the features it tracks in the images to update the topological map. The method is very general and does not require the environment to have uniquely distinctive features.

Original languageEnglish (US)
Pages (from-to)850-855
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Dec 9 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

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