CMU-CS-02-111
Computer Science Department
School of Computer Science, Carnegie Mellon University


CMU-CS-02-111

Robotic Mapping: A Survey

Sebastian Thrun

February 2002

CMU-CS-02-111.ps
CMU-CS-02-111.pdf


Keywords: Bayes filter, robotic mapping, exploration, expectation maximization algorithm, Kalman filters, mobile robots


This article provides a comprehensive introduction into the field of robotic mapping, with a focus on indoor mapping. It describes and compares various probabilistic techniques, as they are presently being applied to a vast array of mobile robot mapping problems. The history of robotic mapping is also described, along with an extensive list of open research problems.

31 pages

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