Explicit Objects in 2D

Extracted features

Environment

Sensors

Purpose

Indoor,

Structured

Localization

Sonar

• Fast localization

• Dynamic Environments

• Incremental

• Compact representation

• No free space

• Coarse resolution

Comments

Leonard & Durrant-Whyte’90

Map structure:

• Features: lines (walls) and edges (corners)

• The map is a set of features with position, uncertainty in position and uncertainty in belief

MAP

Prediction

Feature extraction

Unexpected

Matching

Position update

Increase Validity

Modify Covariance

Insert new features

Decrease Validity

Predicted features

No

No

Yes

Yes

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