Map building by mobile robots with incomplete and qualitative observation
Takehisa Yairi, Koichi Hori · Society of Instrument and Control Engineers of Japan · 2003
This paper introduces two kinds of unique map building methods for mobile robots. One is for building metric or object coordinate maps, and the other is for topological or qualitative state transition maps. A common feature of these methods is that they use only very coarse qualitative information called co-visibility or information on what landmark objects are visible together at each position.