Title :
Landmark rating and selection according to localization coverage: Addressing the challenge of lifelong operation of SLAM in service robots
Author :
Hochdorfer, Siegfried ; Schlegel, Christian
Author_Institution :
Comput. Sci. Dept., Univ. of Appl. Sci. Ulm, Ulm, Germany
Abstract :
Acting in everyday-life environments is still a great challenge in service robotics. Although algorithms and solutions already exist for many relevant subproblems, in particular the aspect of robustness and suitability for everyday use has been neglected so far very often. Robustness and suitability for everyday use are features affecting not only the overall system design but have impact on each single algorithm of each component.
Keywords :
service robots; P3DX-platform; landmark rating; landmark selection; localization coverage; service robotics; simultaneous localization and mapping; Computer science; Environmental management; Intelligent robots; Orbital robotics; Resource management; Robustness; Service robots; Simultaneous localization and mapping; USA Councils; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354433
