A system for volumetric robotic mapping of abandoned mines

By Sebastian Thrun, Dirk Hähnel, D. Ferguson, Michael Montemerlo, Rudolph Triebel, Wolfram Burgard, Christopher R. Baker, Z. Omohundro, S. Thayer, William L. Whittaker. IEEE International Conference on Robotics and Automation, 2003

300 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Electrical and Electronic Engineering

View Paper: https://www.semanticscholar.org/paper/a584d243c25a8559b419bdf482b2f57791195cbc

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Citations in the corpus

Hierarchical SLAM: real-time accurate mapping of large environments (2005, unknown): “For closing loops, they use consistent pose estimation [17], whose time complexity is on the number of robot poses, making the method unsuitable for real-time execution in large environments.”
Visual simultaneous localization and mapping: a survey (2012, background): “…automatic car piloting on unre-hearsed off-road terrains (Thrun et al. 2005a); rescue tasks for high-risk or difﬁcult-naviga-tion environments (Thrun 2003; Piniés et al. 2006); planetary, aerial, terrestrial and oceanic…”
Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas Framework (2004, methodology): “This technique is used in Thrun et al. (2003), where falsely matched links can be recursively corrected when large errors are detected.”
Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing (2006, background): “A popular approach is to use multiple scanners that point towards different directions [7], [25], [26].”
Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS (2006, background): “SLAM can be performed using different types of sensors such as sonar [20], laser range finders [22] and vision [18, 4, 19].”
Perspectives on standardization in mobile robot programming: the Carnegie Mellon Navigation (CARMEN) Toolkit (2003, methodology): “This map representation has been used by a number of research projects in a number of different arenas, such as the museum tour-guide project [11], multi-agent exploration and planning [6] and mine-mapping [13].”
Persistent Navigation and Mapping using a Biologically Inspired SLAM System (2010, methodology): “The robot performed 1,143 delivery tasks to 11 different locations with only one delivery failure (from which it recovered), traveled a total distance of more than 40 km over 37 hours of active operation, and recharged autonomously a total of 23 times.”
Simultaneous Localization and Mapping with Sparse Extended Information Filters (2004, methodology): “We also note that in a recent implementation, a new lazy data association methodology was developed that uses a SEIF-style information matrix to robustly generate maps with hundreds of meters in diameter (Thrun et al. 2003).”
FastSLAM: a factored solution to the simultaneous localization and mapping problem (2002, methodology): “One such robot, shown in Figure 1.1(b), is capable of building 3D reconstructions of the interior of ab andoned mines using SLAM technology [ 59 ].”
Coordinated multi-robot exploration (2005, background): “I. INTRODUCTION THE PROBLEM of exploring an environment belongs tothe fundamental problems in mobile robotics.”