A Comparative Study of Three Mapping Methodologies

Zhang, X. Z.; Rad, A.B.; Wong, YW; Huang, Guoquan; Ip, Y. L.; Chow, K. M.

doi:10.1007/s10846-007-9143-z

Cited by 7 publications

(5 citation statements)

References 13 publications

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“…With mapping in mind, previous studies have focused on scan registration with application to underground environments (Magnusson et al, 2007). Unfortunately, apart from a few examples, much of the academic literature about robotic mapping focuses on small-scale and indoor environments (Thrun, 2002;Zhang et al, 2007). Moreover, the use of robotic mapping is not widespread in the mining industry.…”

Section: Maps From Positioningmentioning

confidence: 99%

Robotic mapping of underground mine passageways

Artan¹,

Marshall

Lavigne³

2011

Mining Technology

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The ability to determine the position and orientation of vehicles in real time is a key enabling technology for automation, traffic management, and to ensure safety in the presence of multiple operating vehicles. As explained in this paper, despite some misguided advertising within the mining community, a technology comparable to the satellite based global positioning system (GPS), does not yet exist for underground operations. This paper reports on the preliminary results of a study to develop a relatively low cost and robust method for obtaining globally consistent maps of underground mine environments, the purpose of which is to support the creation of a map based underground positioning technology. The described mapping technique is based on an approach from the mobile robotics research literature and is demonstrated by using data acquired with a load-haul-dump (LHD) machine at two Nordic mines.

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Section: Maps From Positioningmentioning

confidence: 99%

Robotic mapping of underground mine passageways

Artan¹,

Marshall

Lavigne³

2011

Mining Technology

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“…Perception and localization can be reached through subsequent actions, i.e. recognition and mapping (Thrun, 2003;Zhang et al, 2007), or through the Simultaneous Localization And Mapping techniques (SLAM) (e.g. Durrant-Whyte & Bailey, 2006).…”

Section: Autonomous Robotsmentioning

confidence: 99%

An intelligent framework to manage robotic autonomous agents

Vidoni¹,

García‐Sánchez²,

Gasparetto³

et al. 2011

Expert Systems with Applications

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“…To have a feasible algorithm to build this occupancy grid using a probabilistic approach it is necessary to assume that the current observation is independent from the previous ones, and that the probability of being occupied for each cell is independent from the others, but in most practical cases these assumptions fail, and the maps based on them contain severe errors, (see [41,62] for a comparison). A difference between the work presented here and probabilistic approaches is that our model does not need to assume that observations are independent, in fact, the opposite is assumed when some observations are used to correct others (see Section 4.2 for details).…”

Section: Related Workmentioning

confidence: 99%

Approximate robotic mapping from sonar data by modeling perceptions with antonyms

Guadarrama

Ruiz-Mayor

2010

Information Sciences

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a b s t r a c tThis work, inspired by the idea of ''Computing with Words and Perceptions" proposed by Zadeh in [57,59], focuses on how to transform measurements into perceptions [22] for the problem of map building by Autonomous Mobile Robots. We propose to model the perceptions obtained from sonar-sensors as two grid maps: one for obstacles and another for empty-spaces. The rules used to build and integrate these maps are expressed by linguistic descriptions and modeled by fuzzy rules. The main difference of this approach from other studies reported in the literature is that the method presented here is based on the hypothesis that the concepts ''occupied" and ''empty" are antonyms rather than complementary (as it happens in probabilistic approaches), or independent (as it happens in the previous fuzzy models).Controlled experimentation with a real robot in three representative indoor environments has been performed and the results presented. We offer a qualitative and quantitative comparison of the estimated maps obtained by the probabilistic approach, the previous fuzzy method and the new antonyms-based fuzzy approach. It is shown that the maps obtained with the antonyms-based approach are better defined, capture better the shape of the walls and of the empty-spaces, and contain less errors due to rebounds and short-echoes. Furthermore, in spite of noise and low resolution inherent to the sonar-sensors used, the maps obtained are accurate and tolerant to imprecision.

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A Comparative Study of Three Mapping Methodologies

Cited by 7 publications

References 13 publications

Robotic mapping of underground mine passageways

Robotic mapping of underground mine passageways

An intelligent framework to manage robotic autonomous agents

Approximate robotic mapping from sonar data by modeling perceptions with antonyms

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