Iconic localization and map making

Iconic localization 20220209185424 and map making is based on the usage of and occupancy grid, a representation of the world where obstacles are marked on the grid. This kind of localization usually relies on the usage of a sensor model 20220228202551 to update the map, usually a sonar sensor model 20220228203000.

There are a few algorithms based on iconic localization:

Bayes and Dempster-shafter are formal theories, where other sensor readings can be more easily fused into the sonar model. HIMM is only suitable for sonar. They are also more easily adaptable to new environments than HIMM. However, HIMM has a greater computational advantage over this theories with good results.

Notes References

20220209185424 Robot navigation - Localization

20210514183815 INDEX - Robotics

References

(Murphy 2000)

Murphy, Robin. 2000. Introduction to AI Robotics. Intelligent Robotics and Autonomous Agents. Cambridge, Mass: MIT Press.