Mapping Topics: Topological maps SLAM HMMs Revisited Additional reading B J. Kuipers&Y.-T. exploration and mapping based on a semantic hierarchy of JJ. Leonard. I. J. Cox Int J. Robotics Resear hyte. "Dynamic map building for an autonomous mobile robot Ssues Statement Given a set of observations of the world what is the world like? Inputs Sequence of observations, or perhaps actions and observations, or perhaps actions observations and vehicle motion/sensor models Outputs from different algorithms Graph of connected states Graph of connected states, transition probabilities p(xi x, ak) and observation probabilities p(zxi) Description of landmark locations Occupancy grid List of points from range sensors Choices: How to represent model <Closing the loopMapping Topics: Topological Maps SLAM HMMs Revisited ● Additional reading: ● B. J. Kuipers & Y.-T. Byun. 1991. “A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations.” Journal of Robotics and Autonomous Systems, 8: 47-63 ● J. J. Leonard, I. J. Cox, and H. F. Durrant-Whyte. “Dynamic map building for an autonomous mobile robot”. Int. J. Robotics Research, 11(4):286--298, August 1992. Issues ● Statement: – Given a set of observations of the world, what is the world like? ● Inputs: – Sequence of observations, or perhaps actions and observations, or perhaps actions, observations and vehicle motion/sensor models ● Outputs from different algorithms: – Graph of connected states – Graph of connected states, transition probabilities p(xi |xj ,ak) and observation probabilities p(zi |xj ) – Description of landmark locations – Occupancy grid – List of points from range sensors ● Choices: – How to represent model “Closing the loop