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31 July 2002 SLAM in a van
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We have developed techniques for Simultaneous Localization and Map Building based on the augmented state Kalman filter, and demonstrated this in real time using laboratory robots. Here we report the results of experiments conducted out doors in an unstructured, unknown, representative environment, using a van equipped with a laser range finder for sensing the external environment, and GPS to provide an estimate of ground truth. The goal is simultaneously to build a map of an unknown environment and to use that map to navigate a vehicle that otherwise would have no way of knowing its location. In this paper we describe the system architecture, the nature of the experimental set up, and the results obtained. These are compared with the estimated ground truth. We show that SLAM is both feasible and useful in real environments. In particular, we explore its repeatability and accuracy, and discuss some practical implementation issues. Finally, we look at the way forward for a real implementation on ground and air vehicles operating in very demanding, harsh environments.
© (2002) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Lewis A. Binns, Dimitris Valachis, Sean Anderson, David W. Gough, David Nicholson, and Phil Greenway "SLAM in a van", Proc. SPIE 4729, Signal Processing, Sensor Fusion, and Target Recognition XI, (31 July 2002);

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