Simultaneous localization and map-building in outdoors semi-structured environments

G. C. Anousaki, K. J. Kyriakopoulos

Research output: Contribution to journalConference articlepeer-review


This paper addresses the issue of Simultaneous localization and map-building (SLAM) in large scale outdoor environments. A dead-reckoning scheme appropriate also for skid-steered mobile robots is used. A line feature-based map is constructed on-the-fly and assists in a better estimation for the robot pose. The dead-reckoning is based on internal sensors (inertial data and odometry) only. The information from an experimentally derived kinematic model and an onboard Inertial Navigation System (INS) is fused using a simple and fast maximum likelihood formulation to produce estimates for the linear and angular velocity of the robot. The map is constructed using two laser sensors located to cover a full 3600 sector around the robot. A second estimate for the robot pose is derived from a map matching algorithm. The two estimates are fused together using a covariance intersection filter. We verify our approach with large scale experiments in outdoors structured environments following paths with steep turns and variable velocity.

Original languageEnglish (US)
Pages (from-to)886-891
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number8
StatePublished - 2004
EventIFAC/EURON Symposium on Intelligent Autonomous Vehicles - Lisbon, Portugal
Duration: Jul 5 2004Jul 7 2004


  • Localization
  • Map-building
  • Mobile robots
  • Sensor fusion

ASJC Scopus subject areas

  • Control and Systems Engineering


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