AAAI Publications, Workshops at the Twenty-Seventh AAAI Conference on Artificial Intelligence

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Qualitative Relational Mapping for Planetary Rovers
Mark McClelland, Mark Campbell, Tara Estlin

Last modified: 2013-06-29

Abstract


This paper presents a novel method for qualitative mapping of large scale spaces. The proposed framework makes use of a graphical representation of the world in order to build a map consisting of qualitative constraints on the geometric relationships between landmark triplets. A novel measurement method based on camera imagery is presented which extends previous work from the field of Qualitative Spatial Reasoning. Measurements are fused into the map using a deterministic approach based on iterative graph updates and permutation operators. Experimental results are presented for a robot traversing a Mars-like environment while building a relational map.

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