The animation shows the process by which the Pioneer AT robots create a map. The map is the result of running a robot 5 separate times as if 5
robots were creating the map together. About every half-meter, the robot records points from the laser range finder (LRF) and the raw encoder
position (i.e. where the robots thinks it is based solely on wheel rotations). The green arrows represent raw encoder positions. As you can
see, robots incur a lot of error during the course of a run. The points, knowns as "scans", are matched against one another using correlation
techniques. The scans fit together like puzzle pieces and the result is the map you see. The red arrows represent corrected pose information
after doing scan matching.
This work was supported by the Defense Advanced Research Projects Agency (DARPA) in the Software for Distributed Robotics (SDR) program, under agreement numbers NBCHC020073/0005.
The U.S. Government is authorized to reproduce and distribute reprints for Governmental purposes notwithstanding any copy-right notation thereon. The views and conclusions contained herein are those of the authors and should not be interpreted as necessarily representing the official policies or endorsements, either expressed or implied, of DARPA, or the U.S. Government.
For more information about other projects funded by DARPA, visit the DARPA site.