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Map Building without Localization by Dimensionality Reduction Techniques
Published on Feb 4, 20257005 Views
This paper proposes a new map building framework for mobile robot named Localization-Free Mapping by Dimensionality Reduction (LFMDR). In this framework, the robot map building is interpreted as a pro
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Presentation
Map Building without Localization by Dimensionality Reduction Techniques01:40
Map Building Problem to Consider36:56:40
Related Works : SLAM [Thrun 02]47:13:20
Related Works : Dimensionality Reduction and Mapping (1)61:56:40
Related Works : Dimensionality Reduction and Mapping (2)71:40:00
Related Works : Dimensionality Reduction and Mapping (cont.)79:26:40
Proposed Framework : LFMDR (1) Assumptions86:23:20
Proposed Framework : LFMDR (2) Interpretation as a DR Problem103:36:40
Proposed Framework : LFMDR (4) Procedure110:00:00
Features of LFMDR (1) (Comparison with SLAM)121:23:20
Features of LFMDR (2) (Comparison with Other DR-based Approaches)142:13:20
DR Methods172:30:00
Case 1 : Visibility-Only Mapping Description180:16:40
Case 1 : Visibility-Only Mapping Visibility Measurements193:20:00
Case 1 : Visibility-Only Mapping Maps After 2000 Time Steps205:16:40
Case 1 : Visibility-Only Mapping Mean Position Errors216:40:00
Case 1 : Visibility-Only Mapping Final Map Errors221:06:40
Case 2 : Bearing-Only Mapping Description226:56:40
Case 2 : Bearing-Only Mapping Bearing Measurements240:33:20
Case 2 : Bearing-Only Mapping Maps After 2000 Time Steps247:30:00
Case 2 : Bearing-Only Mapping Final Map Errors256:06:40