Mapping with Known Poses *. CS5391 – AI Robotics. Agenda…. Introduction to mapping: Motivate SLAM. Mapping with known poses. Some examples. Simple counting-based mapping. MAP estimation. Why Mapping?. Maps are a fundamental requirement:
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Mapping with Known Poses*
CS5391 – AI Robotics
Based on the slides from the book's website
What does the environment look like?
mapping involves finding the most likely map (mode):
[Lu & Milios, 97; Gutmann, 98: Thrun 98; Burgard, 99; Konolige & Gutmann, 00; Thrun, 00; Arras, 99; Haehnel, 01;…]
[Leonard et al., 98; Castelanos et al., 99: Dissanayake et al., 2001; Montemerlo et al., 2002;…
occupancy grid map