Page 212 - Introduction to Autonomous Mobile Robots

Mobile Robot Localization

a) b) 197
robot position
(x,y,θ)

c) d)

node i

Figure 5.10
Three examples of single hypotheses of position using different map representations: (a) real map
with walls, doors and furniture; (b) line-based map → around 100 lines with two parameters; (c)
occupancy grid-based map → around 3000 grid cells size 50 x 50 cm; (d) topological map using line
features (Z/S lines) and doors → around 50 features and 18 nodes.