Download or read book A Probabilistic Approach for Concurrent Map Acquisition and Localization for Mobile Robots written by Carnegie-Mellon University. Computer Science Dept and published by . This book was released on 1997 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "This paper addresses the problem of building large- scale geometric maps if [sic] indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum- likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach."