A real-time expectation-maximization algorithm for acquiring multiplanar maps of indoor environments with mobile robots.
Sebastian ThrunChristian MartinYufeng LiuDirk HähnelRosemary Emery-MontemerloDeepayan ChakrabartiWolfram BurgardPublished in: IEEE Trans. Robotics (2004)
Keyphrases
- expectation maximization
- indoor environments
- mobile robot
- path planning
- real time
- em algorithm
- detection algorithm
- computational complexity
- dynamic programming
- laser range data
- k means
- multi robot
- learning algorithm
- probabilistic model
- topological map
- dynamic environments
- mixture model
- objective function
- range images
- three dimensional
- image processing
- obstacle avoidance
- localization algorithm