Object-based localization and mapping using loop constraints and geometric prior knowledge

Masahiro Tomono, Shin'ichi Yuta

Research output: Contribution to journalConference article


This paper presents a method of building a structured map which consists of objects such as furniture. We represent a map as a graph, in which a node represents an object and an arc represents a relative pose between objects. The robot localizes itself and builds a map using odometry readings and sensor data obtained by object recognition. To correct the map distortion caused by errors in the data, the robot utilizes loops as geometric constraints, and imports geometric knowledge provided by a hand-made map. Experiments show that the robot successfully built a map of corridors, and a map of a room having many objects.

Original languageEnglish
Pages (from-to)862-867
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19


ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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