Simultaneous localization and map building for mobile robot navigation

G. C. Anousaki, K. J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


A reliable scheme that deals with the map-building and the localization issues simultaneously is presented. The world-model estimate is fed to the localization algorithm, which in turn provides a corrected position and orientation estimate that is subsequently fed to the map-building algorithm to provide an updated world model. The perceived local world model along with dead-reckoning and ultrasonic sensor data are combined using an extended Kalman filter in a localization scheme to estimate the current position and orientation of the mobile robot. Implementation issues and experimental results from the experience with a Nomad 150 mobile robot in a real world indoor environment are presented.

Original languageEnglish (US)
Pages (from-to)42-53
Number of pages12
JournalIEEE Robotics and Automation Magazine
Issue number3
StatePublished - Sep 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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