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id="firstHeading" class="firstHeading mw-first-heading"><span class="mw-page-title-main">Robotic mapping</span></h1> <div id="p-lang-btn" class="vector-dropdown mw-portlet mw-portlet-lang" > <input type="checkbox" id="p-lang-btn-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-p-lang-btn" class="vector-dropdown-checkbox mw-interlanguage-selector" aria-label="Go to an article in another language. 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class="interlanguage-link-target"><span>العربية</span></a></li><li class="interlanguage-link interwiki-et mw-list-item"><a href="https://et.wikipedia.org/wiki/Roboti_lokaliseerimine" title="Roboti lokaliseerimine – Estonian" lang="et" hreflang="et" data-title="Roboti lokaliseerimine" data-language-autonym="Eesti" data-language-local-name="Estonian" class="interlanguage-link-target"><span>Eesti</span></a></li><li class="interlanguage-link interwiki-es mw-list-item"><a href="https://es.wikipedia.org/wiki/Mapeo_rob%C3%B3tico" title="Mapeo robótico – Spanish" lang="es" hreflang="es" data-title="Mapeo robótico" data-language-autonym="Español" data-language-local-name="Spanish" class="interlanguage-link-target"><span>Español</span></a></li><li class="interlanguage-link interwiki-fr badge-Q70893996 mw-list-item" title=""><a href="https://fr.wikipedia.org/wiki/Cartographie_(robotique)" title="Cartographie (robotique) – French" lang="fr" hreflang="fr" data-title="Cartographie (robotique)" 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<div class="vector-body-before-content"> <div class="mw-indicators"> </div> <div id="siteSub" class="noprint">From Wikipedia, the free encyclopedia</div> </div> <div id="contentSub"><div id="mw-content-subtitle"></div></div> <div id="mw-content-text" class="mw-body-content"><div class="mw-content-ltr mw-parser-output" lang="en" dir="ltr"><div class="shortdescription nomobile noexcerpt noprint searchaux" style="display:none">Discipline related to computer vision and cartography</div> <style data-mw-deduplicate="TemplateStyles:r1251242444">.mw-parser-output .ambox{border:1px solid #a2a9b1;border-left:10px solid #36c;background-color:#fbfbfb;box-sizing:border-box}.mw-parser-output .ambox+link+.ambox,.mw-parser-output .ambox+link+style+.ambox,.mw-parser-output .ambox+link+link+.ambox,.mw-parser-output .ambox+.mw-empty-elt+link+.ambox,.mw-parser-output .ambox+.mw-empty-elt+link+style+.ambox,.mw-parser-output .ambox+.mw-empty-elt+link+link+.ambox{margin-top:-1px}html body.mediawiki .mw-parser-output .ambox.mbox-small-left{margin:4px 1em 4px 0;overflow:hidden;width:238px;border-collapse:collapse;font-size:88%;line-height:1.25em}.mw-parser-output .ambox-speedy{border-left:10px solid #b32424;background-color:#fee7e6}.mw-parser-output .ambox-delete{border-left:10px solid #b32424}.mw-parser-output .ambox-content{border-left:10px solid #f28500}.mw-parser-output .ambox-style{border-left:10px solid #fc3}.mw-parser-output .ambox-move{border-left:10px solid #9932cc}.mw-parser-output .ambox-protection{border-left:10px solid #a2a9b1}.mw-parser-output .ambox .mbox-text{border:none;padding:0.25em 0.5em;width:100%}.mw-parser-output .ambox .mbox-image{border:none;padding:2px 0 2px 0.5em;text-align:center}.mw-parser-output .ambox .mbox-imageright{border:none;padding:2px 0.5em 2px 0;text-align:center}.mw-parser-output .ambox .mbox-empty-cell{border:none;padding:0;width:1px}.mw-parser-output .ambox .mbox-image-div{width:52px}@media(min-width:720px){.mw-parser-output .ambox{margin:0 10%}}@media print{body.ns-0 .mw-parser-output .ambox{display:none!important}}</style><table class="box-More_citations_needed plainlinks metadata ambox ambox-content ambox-Refimprove" role="presentation"><tbody><tr><td class="mbox-image"><div class="mbox-image-div"><span typeof="mw:File"><a href="/wiki/File:Question_book-new.svg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/50px-Question_book-new.svg.png" decoding="async" width="50" height="39" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/75px-Question_book-new.svg.png 1.5x, //upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/100px-Question_book-new.svg.png 2x" data-file-width="512" data-file-height="399" /></a></span></div></td><td class="mbox-text"><div class="mbox-text-span">This article <b>needs additional citations for <a href="/wiki/Wikipedia:Verifiability" title="Wikipedia:Verifiability">verification</a></b>.<span class="hide-when-compact"> Please help <a href="/wiki/Special:EditPage/Robotic_mapping" title="Special:EditPage/Robotic mapping">improve this article</a> by <a href="/wiki/Help:Referencing_for_beginners" title="Help:Referencing for beginners">adding citations to reliable sources</a>. Unsourced material may be challenged and removed.<br /><small><span class="plainlinks"><i>Find sources:</i> <a rel="nofollow" class="external text" href="https://www.google.com/search?as_eq=wikipedia&q=%22Robotic+mapping%22">"Robotic mapping"</a> – <a rel="nofollow" class="external text" href="https://www.google.com/search?tbm=nws&q=%22Robotic+mapping%22+-wikipedia&tbs=ar:1">news</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.google.com/search?&q=%22Robotic+mapping%22&tbs=bkt:s&tbm=bks">newspapers</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.google.com/search?tbs=bks:1&q=%22Robotic+mapping%22+-wikipedia">books</a> <b>·</b> <a rel="nofollow" class="external text" href="https://scholar.google.com/scholar?q=%22Robotic+mapping%22">scholar</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.jstor.org/action/doBasicSearch?Query=%22Robotic+mapping%22&acc=on&wc=on">JSTOR</a></span></small></span> <span class="date-container"><i>(<span class="date">October 2018</span>)</i></span><span class="hide-when-compact"><i> (<small><a href="/wiki/Help:Maintenance_template_removal" title="Help:Maintenance template removal">Learn how and when to remove this message</a></small>)</i></span></div></td></tr></tbody></table> <p><b>Robotic mapping</b> is a discipline related to <a href="/wiki/Computer_vision" title="Computer vision">computer vision</a><sup id="cite_ref-Juan-Antonio2012_1-0" class="reference"><a href="#cite_note-Juan-Antonio2012-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> and <a href="/wiki/Cartography" title="Cartography">cartography</a>. The goal for an <a href="/wiki/Autonomous_robot" title="Autonomous robot">autonomous robot</a> is to be able to construct (or use) a map (outdoor use) or <a href="/wiki/Floor_plan" title="Floor plan">floor plan</a> (indoor use) and to localize itself and its recharging bases or beacons in it. Robotic mapping is that branch which deals with the study and application of ability to localize itself in a map / plan and sometimes to construct the map or floor plan by the autonomous <a href="/wiki/Robot" title="Robot">robot</a>. </p><p>Evolutionarily shaped blind action may suffice to keep some animals alive. For some <a href="/wiki/Insect" title="Insect">insects</a> for example, the environment is not interpreted as a map, and they survive only with a triggered response. A slightly more elaborated navigation strategy dramatically enhances the capabilities of the robot. <a href="/wiki/Cognitive_map" title="Cognitive map">Cognitive maps</a> enable planning capacities and use of current perceptions, memorized events, and expected consequences. </p> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="Operation">Operation</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robotic_mapping&action=edit&section=1" title="Edit section: Operation"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The robot has two sources of information: the <a href="/wiki/Idiothetic" title="Idiothetic">idiothetic</a> and the <a href="/wiki/Allothetic" title="Allothetic">allothetic</a> sources. When in motion, a robot can use <a href="/wiki/Dead_reckoning" title="Dead reckoning">dead reckoning</a> methods such as tracking the number of revolutions of its wheels; this corresponds to the <a href="/wiki/Idiothetic" title="Idiothetic">idiothetic</a> source and can give the absolute position of the robot, but it is subject to cumulative error which can grow quickly. </p><p>The <a href="/wiki/Allothetic" title="Allothetic">allothetic</a> source corresponds the sensors of the robot, like a camera, a microphone, <a href="/wiki/Laser" title="Laser">laser</a>, <a href="/wiki/Lidar" title="Lidar">lidar</a> or <a href="/wiki/Sonar" title="Sonar">sonar</a>.<sup class="noprint Inline-Template Template-Fact" style="white-space:nowrap;">[<i><a href="/wiki/Wikipedia:Citation_needed" title="Wikipedia:Citation needed"><span title="This claim needs references to reliable sources. (October 2018)">citation needed</span></a></i>]</sup> The problem here is "<a href="/w/index.php?title=Perceptual_aliasing&action=edit&redlink=1" class="new" title="Perceptual aliasing (page does not exist)">perceptual aliasing</a>". This means that two different places can be perceived as the same. For example, in a building, it is nearly impossible to determine a location solely with the visual information, because all the corridors may look the same.<sup id="cite_ref-2" class="reference"><a href="#cite_note-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup> 3-dimensional models of a robot's environment can be generated using <a href="/wiki/Range_imaging" title="Range imaging">range imaging</a> sensors<sup id="cite_ref-3" class="reference"><a href="#cite_note-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup> or <a href="/wiki/3D_scanner" class="mw-redirect" title="3D scanner">3D scanners</a>.<sup id="cite_ref-4" class="reference"><a href="#cite_note-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-Saeed2011_5-0" class="reference"><a href="#cite_note-Saeed2011-5"><span class="cite-bracket">[</span>5<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="Map_representation">Map representation</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robotic_mapping&action=edit&section=2" title="Edit section: Map representation"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The internal representation of the map can be "metric" or "topological":<sup id="cite_ref-6" class="reference"><a href="#cite_note-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup> </p> <ul><li>The metric framework is the most common for humans and considers a two-dimensional space in which it places the objects. The objects are placed with precise coordinates. This representation is very useful, but is sensitive to noise and it is difficult to calculate the distances precisely.</li> <li>The topological framework only considers places and relations between them. Often, the distances between places are stored. The map is then a <a href="/wiki/Graph_(discrete_mathematics)" title="Graph (discrete mathematics)">graph</a>, in which the nodes corresponds to places and arcs correspond to the paths.</li></ul> <p>Many techniques use probabilistic representations of the map, in order to handle uncertainty. </p><p>There are three main methods of map representations, i.e., free space maps, object maps, and composite maps. These employ the notion of a grid, but permit the resolution of the grid to vary so that it can become finer where more accuracy is needed and more coarse where the map is uniform. </p> <div class="mw-heading mw-heading2"><h2 id="Map_learning">Map learning</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robotic_mapping&action=edit&section=3" title="Edit section: Map learning"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Map learning cannot be separated from the localization process, and a difficulty arises when errors in localization are incorporated into the map. This problem is commonly referred to as <a href="/wiki/Simultaneous_localization_and_mapping" title="Simultaneous localization and mapping">Simultaneous localization and mapping</a> (SLAM). </p><p>An important additional problem is to determine whether the robot is in a part of environment already stored or never visited. One way to solve this problem is by using <a href="/wiki/Electric_beacon" class="mw-redirect" title="Electric beacon">electric beacons</a>, <a href="/wiki/Near_field_communication" class="mw-redirect" title="Near field communication">Near field communication</a> (NFC), <a href="/wiki/WiFi" class="mw-redirect" title="WiFi">WiFi</a>, <a href="/wiki/Visible_light_communication" title="Visible light communication">Visible light communication</a> (VLC) and <a href="/wiki/Li-Fi" title="Li-Fi">Li-Fi</a> and <a href="/wiki/Bluetooth" title="Bluetooth">Bluetooth</a>.<sup id="cite_ref-7" class="reference"><a href="#cite_note-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="Path_planning">Path planning</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robotic_mapping&action=edit&section=4" title="Edit section: Path planning"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p><a href="/wiki/Motion_planning" title="Motion planning">Path planning</a> is an important issue as it allows a robot to get from point A to point B. Path planning algorithms are measured by their computational complexity. The feasibility of real-time motion planning is dependent on the accuracy of the map (or <a href="/wiki/Floorplan" class="mw-redirect" title="Floorplan">floorplan</a>), on robot localization and on the number of obstacles. Topologically, the problem of path planning is related to the <a href="/wiki/Shortest_path_problem" title="Shortest path problem">shortest path problem</a> of finding a route between two nodes in a <a href="/wiki/Graph_(discrete_mathematics)" title="Graph (discrete mathematics)">graph</a>. </p> <div class="mw-heading mw-heading2"><h2 id="Robot_navigation">Robot navigation <span class="anchor" id="Navigation"></span></h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robotic_mapping&action=edit&section=5" title="Edit section: Robot navigation"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1236090951">.mw-parser-output .hatnote{font-style:italic}.mw-parser-output div.hatnote{padding-left:1.6em;margin-bottom:0.5em}.mw-parser-output .hatnote i{font-style:normal}.mw-parser-output .hatnote+link+.hatnote{margin-top:-0.5em}@media print{body.ns-0 .mw-parser-output .hatnote{display:none!important}}</style><div role="note" class="hatnote navigation-not-searchable">Main article: <a href="/wiki/Robot_navigation" title="Robot navigation">Robot navigation</a></div> <p>Outdoor robots can use GPS in a similar way to <a href="/wiki/Automotive_navigation_system" title="Automotive navigation system">automotive navigation systems</a>. </p><p>Alternative systems can be used with <a href="/wiki/Floor_plan" title="Floor plan">floor plan</a> and beacons instead of <a href="/wiki/Map" title="Map">maps</a> for indoor robots, combined with localization wireless hardware.<sup id="cite_ref-8" class="reference"><a href="#cite_note-8"><span class="cite-bracket">[</span>8<span class="cite-bracket">]</span></a></sup> <a href="/wiki/Electric_beacon" class="mw-redirect" title="Electric beacon">Electric beacons</a> can help for cheap robot navigational systems. </p> <div class="mw-heading mw-heading2"><h2 id="See_also">See also</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robotic_mapping&action=edit&section=6" title="Edit section: See also"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="/wiki/Automotive_navigation_system" title="Automotive navigation system">Automotive navigation system</a></li> <li><a href="/wiki/Domestic_robot" title="Domestic robot">Domestic robot</a></li> <li>AVM Navigator</li> <li><a href="/wiki/Dead_reckoning" title="Dead reckoning">Dead reckoning</a></li> <li><a href="/wiki/Electric_beacon" class="mw-redirect" title="Electric beacon">Electric beacon</a></li> <li><a href="/wiki/GPS" class="mw-redirect" title="GPS">GPS</a></li> <li><a href="/wiki/Home_automation_for_the_elderly_and_disabled" title="Home automation for the elderly and disabled">Home automation for the elderly and disabled</a></li> <li><a href="/wiki/Internet_of_Things" class="mw-redirect" title="Internet of Things">Internet of Things</a> (IoT)</li> <li><a href="/wiki/Indoor_positioning_system" title="Indoor positioning system">Indoor positioning system</a></li> <li><a href="/wiki/Map_database_management" title="Map database management">Map database management</a></li> <li><a href="/wiki/Maze_Simulator" class="mw-redirect" title="Maze Simulator">Maze Simulator</a></li> <li><a href="/wiki/Mobile_robot" title="Mobile robot">Mobile robot</a></li> <li><a href="/wiki/Neato_Robotics" class="mw-redirect" title="Neato Robotics">Neato Robotics</a></li> <li><a href="/wiki/PatrolBot" title="PatrolBot">PatrolBot</a></li> <li><a href="/wiki/Real-time_locating_system" title="Real-time locating system">Real-time locating system</a> (RTLS).</li> <li><a href="/wiki/Robotics_suite" title="Robotics suite">Robotics suite</a></li> <li><a href="/wiki/Occupancy_grid" class="mw-redirect" title="Occupancy grid">Occupancy grid</a></li> <li><a href="/wiki/Simultaneous_localization_and_mapping" title="Simultaneous localization and mapping">Simultaneous localization and mapping</a> (SLAM)</li> <li><a href="/wiki/Multi_Autonomous_Ground-robotic_International_Challenge" title="Multi Autonomous Ground-robotic International Challenge">Multi Autonomous Ground-robotic International Challenge</a>: A challenge requiring multiple vehicles to collaboratively map a large dynamic urban environment</li> <li><a href="/wiki/Wayfinding" title="Wayfinding">Wayfinding</a></li> <li><a href="/wiki/Wi-Fi_positioning_system" title="Wi-Fi positioning system">Wi-Fi positioning system</a> (WPS)</li></ul> <div class="mw-heading mw-heading2"><h2 id="References">References</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robotic_mapping&action=edit&section=7" title="Edit section: References"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1239543626">.mw-parser-output .reflist{margin-bottom:0.5em;list-style-type:decimal}@media screen{.mw-parser-output .reflist{font-size:90%}}.mw-parser-output .reflist .references{font-size:100%;margin-bottom:0;list-style-type:inherit}.mw-parser-output .reflist-columns-2{column-width:30em}.mw-parser-output .reflist-columns-3{column-width:25em}.mw-parser-output .reflist-columns{margin-top:0.3em}.mw-parser-output .reflist-columns ol{margin-top:0}.mw-parser-output .reflist-columns li{page-break-inside:avoid;break-inside:avoid-column}.mw-parser-output .reflist-upper-alpha{list-style-type:upper-alpha}.mw-parser-output .reflist-upper-roman{list-style-type:upper-roman}.mw-parser-output .reflist-lower-alpha{list-style-type:lower-alpha}.mw-parser-output .reflist-lower-greek{list-style-type:lower-greek}.mw-parser-output .reflist-lower-roman{list-style-type:lower-roman}</style><div class="reflist"> <div class="mw-references-wrap"><ol class="references"> <li id="cite_note-Juan-Antonio2012-1"><span class="mw-cite-backlink"><b><a href="#cite_ref-Juan-Antonio2012_1-0">^</a></b></span> <span class="reference-text"><style data-mw-deduplicate="TemplateStyles:r1238218222">.mw-parser-output cite.citation{font-style:inherit;word-wrap:break-word}.mw-parser-output .citation q{quotes:"\"""\"""'""'"}.mw-parser-output .citation:target{background-color:rgba(0,127,255,0.133)}.mw-parser-output .id-lock-free.id-lock-free a{background:url("//upload.wikimedia.org/wikipedia/commons/6/65/Lock-green.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-limited.id-lock-limited a,.mw-parser-output .id-lock-registration.id-lock-registration a{background:url("//upload.wikimedia.org/wikipedia/commons/d/d6/Lock-gray-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-subscription.id-lock-subscription a{background:url("//upload.wikimedia.org/wikipedia/commons/a/aa/Lock-red-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .cs1-ws-icon a{background:url("//upload.wikimedia.org/wikipedia/commons/4/4c/Wikisource-logo.svg")right 0.1em center/12px no-repeat}body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-free a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-limited a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-registration a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-subscription a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .cs1-ws-icon a{background-size:contain;padding:0 1em 0 0}.mw-parser-output .cs1-code{color:inherit;background:inherit;border:none;padding:inherit}.mw-parser-output .cs1-hidden-error{display:none;color:var(--color-error,#d33)}.mw-parser-output .cs1-visible-error{color:var(--color-error,#d33)}.mw-parser-output .cs1-maint{display:none;color:#085;margin-left:0.3em}.mw-parser-output .cs1-kern-left{padding-left:0.2em}.mw-parser-output .cs1-kern-right{padding-right:0.2em}.mw-parser-output .citation .mw-selflink{font-weight:inherit}@media screen{.mw-parser-output .cs1-format{font-size:95%}html.skin-theme-clientpref-night .mw-parser-output .cs1-maint{color:#18911f}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .cs1-maint{color:#18911f}}</style><cite id="CITEREFFernández-Madrigal,_Juan-Antonio2012" class="citation book cs1">Fernández-Madrigal, Juan-Antonio (30 September 2012). <a rel="nofollow" class="external text" href="https://books.google.com/books?id=JbaeBQAAQBAJ"><i>Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods: Introduction and Methods</i></a>. IGI Global. <a href="/wiki/ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <a href="/wiki/Special:BookSources/978-1-4666-2105-3" title="Special:BookSources/978-1-4666-2105-3"><bdi>978-1-4666-2105-3</bdi></a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Simultaneous+Localization+and+Mapping+for+Mobile+Robots%3A+Introduction+and+Methods%3A+Introduction+and+Methods&rft.pub=IGI+Global&rft.date=2012-09-30&rft.isbn=978-1-4666-2105-3&rft.au=Fern%C3%A1ndez-Madrigal%2C+Juan-Antonio&rft_id=https%3A%2F%2Fbooks.google.com%2Fbooks%3Fid%3DJbaeBQAAQBAJ&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobotic+mapping" class="Z3988"></span></span> </li> <li id="cite_note-2"><span class="mw-cite-backlink"><b><a href="#cite_ref-2">^</a></b></span> <span class="reference-text">Filliat, David, and Jean-Arcady Meyer. "<a rel="nofollow" class="external text" href="http://hal.upmc.fr/docs/00/65/54/73/PDF/Filliat-Meyer_Navigation_Cartes.pdf">Map-based navigation in mobile robots:: I. a review of localization strategies</a>." Cognitive Systems Research 4.4 (2003): 243-282.</span> </li> <li id="cite_note-3"><span class="mw-cite-backlink"><b><a href="#cite_ref-3">^</a></b></span> <span class="reference-text">Jensen, Björn, et al. <a rel="nofollow" class="external text" href="https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/82655/1/eth-8118-01.pdf">Laser range imaging using mobile robots: From pose estimation to 3D-models</a>. ETH-Zürich, 2005, 2005.</span> </li> <li id="cite_note-4"><span class="mw-cite-backlink"><b><a href="#cite_ref-4">^</a></b></span> <span class="reference-text">Surmann, Hartmut, Andreas Nüchter, and Joachim Hertzberg. "<a rel="nofollow" class="external text" href="http://www2.inf.uni-osnabrueck.de/hertzberg/Papers/SurmannEtAlRAAS-2003.pdf">An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments</a>." Robotics and Autonomous Systems 45.3-4 (2003): 181-198.</span> </li> <li id="cite_note-Saeed2011-5"><span class="mw-cite-backlink"><b><a href="#cite_ref-Saeed2011_5-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFMalik,_Aamir_Saeed2011" class="citation book cs1">Malik, Aamir Saeed (30 November 2011). <a rel="nofollow" class="external text" href="https://books.google.com/books?id=ouyeBQAAQBAJ"><i>Depth Map and 3D Imaging Applications: Algorithms and Technologies: Algorithms and Technologies</i></a>. IGI Global. <a href="/wiki/ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <a href="/wiki/Special:BookSources/978-1-61350-327-0" title="Special:BookSources/978-1-61350-327-0"><bdi>978-1-61350-327-0</bdi></a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Depth+Map+and+3D+Imaging+Applications%3A+Algorithms+and+Technologies%3A+Algorithms+and+Technologies&rft.pub=IGI+Global&rft.date=2011-11-30&rft.isbn=978-1-61350-327-0&rft.au=Malik%2C+Aamir+Saeed&rft_id=https%3A%2F%2Fbooks.google.com%2Fbooks%3Fid%3DouyeBQAAQBAJ&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobotic+mapping" class="Z3988"></span></span> </li> <li id="cite_note-6"><span class="mw-cite-backlink"><b><a href="#cite_ref-6">^</a></b></span> <span class="reference-text"><a href="/wiki/Sebastian_Thrun" title="Sebastian Thrun">Thrun, Sebastian</a>. "<a rel="nofollow" class="external text" href="https://core.ac.uk/download/pdf/82741752.pdf">Learning metric-topological maps for indoor mobile robot navigation</a>." Artificial Intelligence 99.1 (1998): 21-71.</span> </li> <li id="cite_note-7"><span class="mw-cite-backlink"><b><a href="#cite_ref-7">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://www.indooratlas.com/">"Your partner in creating smart indoor spaces"</a>. <i>IndoorAtlas</i>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=IndoorAtlas&rft.atitle=Your+partner+in+creating+smart+indoor+spaces&rft_id=https%3A%2F%2Fwww.indooratlas.com%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobotic+mapping" class="Z3988"></span></span> </li> <li id="cite_note-8"><span class="mw-cite-backlink"><b><a href="#cite_ref-8">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://ijme.us/issues/spring2014/Z__IJME%20spring%202014%20v14%20n2%20(PDW-3).pdf#page=30">"An Autonomous Passive RFID-Assisted Mobile Robot System for Indoor Positioning"</a> <span class="cs1-format">(PDF)</span><span class="reference-accessdate">. Retrieved <span class="nowrap">19 October</span> 2015</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=An+Autonomous+Passive+RFID-Assisted+Mobile+Robot+System+for+Indoor+Positioning&rft_id=http%3A%2F%2Fijme.us%2Fissues%2Fspring2014%2FZ__IJME%2520spring%25202014%2520v14%2520n2%2520%28PDW-3%29.pdf%23page%3D30&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobotic+mapping" class="Z3988"></span></span> </li> </ol></div></div> <div class="navbox-styles"><style data-mw-deduplicate="TemplateStyles:r1129693374">.mw-parser-output .hlist dl,.mw-parser-output .hlist ol,.mw-parser-output .hlist ul{margin:0;padding:0}.mw-parser-output .hlist dd,.mw-parser-output .hlist dt,.mw-parser-output .hlist li{margin:0;display:inline}.mw-parser-output .hlist.inline,.mw-parser-output .hlist.inline dl,.mw-parser-output .hlist.inline ol,.mw-parser-output .hlist.inline ul,.mw-parser-output .hlist dl dl,.mw-parser-output .hlist dl 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Fame">Hall of Fame</a></li> <li><a href="/wiki/Robot_ethics" title="Robot ethics">Ethics</a></li> <li><a href="/wiki/Laws_of_robotics" title="Laws of robotics">Laws</a></li> <li><a href="/wiki/Robot_competition" title="Robot competition">Competitions</a></li> <li><a href="/wiki/Competitions_and_prizes_in_artificial_intelligence" title="Competitions and prizes in artificial intelligence">AI competitions</a></li></ul> </div></td><td class="noviewer navbox-image" rowspan="8" style="width:1px;padding:0 0 0 2px"><div><span typeof="mw:File"><a href="/wiki/File:Shadow_Hand_Bulb_large.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/c/c5/Shadow_Hand_Bulb_large.jpg/100px-Shadow_Hand_Bulb_large.jpg" decoding="async" width="100" height="150" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/c/c5/Shadow_Hand_Bulb_large.jpg/150px-Shadow_Hand_Bulb_large.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/c/c5/Shadow_Hand_Bulb_large.jpg/200px-Shadow_Hand_Bulb_large.jpg 2x" data-file-width="2560" data-file-height="3840" /></a></span></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/Robot" title="Robot">Types</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Aerobot" title="Aerobot">Aerobot</a></li> <li><a href="/wiki/Anthropomorphic" class="mw-redirect" title="Anthropomorphic">Anthropomorphic</a> <ul><li><a href="/wiki/Humanoid_robot" title="Humanoid robot">Humanoid</a></li> <li><a href="/wiki/Android_(robot)" title="Android (robot)">Android</a></li> <li><a href="/wiki/Cyborg" title="Cyborg">Cyborg</a></li> <li><a href="/wiki/Gynoid" title="Gynoid">Gynoid</a></li></ul></li> <li><a href="/wiki/Claytronics" class="mw-redirect" title="Claytronics">Claytronics</a></li> <li><a href="/wiki/Companion_robot" title="Companion robot">Companion</a></li> <li><a href="/wiki/Automaton" title="Automaton">Automaton</a> <ul><li><a href="/wiki/Animatronics" title="Animatronics">Animatronic</a> <ul><li><a href="/wiki/Audio-Animatronics" title="Audio-Animatronics">Audio-Animatronics</a></li></ul></li></ul></li> <li><a href="/wiki/Industrial_robot" title="Industrial robot">Industrial</a></li> <li><a href="/wiki/Articulated_robot" title="Articulated robot">Articulated</a> <ul><li><a href="/wiki/Robotic_arm" title="Robotic arm">arm</a></li></ul></li> <li><a href="/wiki/Domestic_robot" title="Domestic robot">Domestic</a></li> <li><a href="/wiki/Educational_robotics" title="Educational robotics">Educational</a></li> <li><a href="/wiki/Entertainment_robot" title="Entertainment robot">Entertainment</a></li> <li><a href="/wiki/Juggling_robot" title="Juggling robot">Juggling</a></li> <li><a href="/wiki/Military_robot" title="Military robot">Military</a></li> <li><a href="/wiki/Medical_robot" title="Medical robot">Medical</a></li> <li><a href="/wiki/Service_robot" title="Service robot">Service</a></li> <li><a href="/wiki/Disability_robot" class="mw-redirect" title="Disability robot">Disability</a></li> <li><a href="/wiki/Agricultural_robot" title="Agricultural robot">Agricultural</a></li> <li><a href="/wiki/Automated_restaurant" title="Automated restaurant">Food service</a></li> <li><a href="/wiki/Automated_retail" title="Automated retail">Retail</a></li> <li><a href="/wiki/BEAM_robotics" title="BEAM robotics">BEAM robotics</a></li> <li><a href="/wiki/Soft_robotics" title="Soft robotics">Soft robotics</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Classifications</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Biorobotics" title="Biorobotics">Biorobotics</a></li> <li><a href="/wiki/Cloud_robotics" title="Cloud robotics">Cloud robotics</a></li> <li><a href="/wiki/Continuum_robot" title="Continuum robot">Continuum robot</a></li> <li><a href="/wiki/Unmanned_vehicle" class="mw-redirect" title="Unmanned vehicle">Unmanned vehicle</a> <ul><li><a href="/wiki/Unmanned_aerial_vehicle" title="Unmanned aerial vehicle">aerial</a></li> <li><a href="/wiki/Unmanned_ground_vehicle" title="Unmanned ground vehicle">ground</a></li></ul></li> <li><a href="/wiki/Mobile_robot" title="Mobile robot">Mobile robot</a></li> <li><a href="/wiki/Microbotics" title="Microbotics">Microbotics</a></li> <li><a href="/wiki/Nanorobotics" title="Nanorobotics">Nanorobotics</a></li> <li><a href="/wiki/Necrobotics" title="Necrobotics">Necrobotics</a></li> <li><a href="/wiki/Robotic_spacecraft" class="mw-redirect" title="Robotic spacecraft">Robotic spacecraft</a> <ul><li><a href="/wiki/Space_probe" class="mw-redirect" title="Space probe">Space probe</a></li></ul></li> <li><a href="/wiki/Swarm_robotics" title="Swarm robotics">Swarm</a></li> <li><a href="/wiki/Telerobotics" title="Telerobotics">Telerobotics</a></li> <li><a href="/wiki/Autonomous_underwater_vehicle" title="Autonomous underwater vehicle">Underwater</a> <ul><li><a href="/wiki/Remotely_operated_underwater_vehicle" title="Remotely operated underwater vehicle">remotely-operated</a></li> <li><a href="/wiki/Robotic_fish" class="mw-redirect" title="Robotic fish">Robotic fish</a></li></ul></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/Robot_locomotion" title="Robot locomotion">Locomotion</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Continuous_track" title="Continuous track">Tracks</a></li> <li><a href="/wiki/Legged_robot" title="Legged robot">Walking</a> <ul><li><a href="/wiki/Hexapod_(robotics)" title="Hexapod (robotics)">Hexapod</a></li></ul></li> <li><a href="/wiki/Climber_(BEAM)" class="mw-redirect" title="Climber (BEAM)">Climbing</a></li> <li><a href="/wiki/Electric_unicycle" title="Electric unicycle">Electric unicycle</a></li> <li><a href="/wiki/Robotic_fin" class="mw-redirect" title="Robotic fin">Robotic fins</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/Robotic_navigation" class="mw-redirect" title="Robotic navigation">Navigation</a> and <a class="mw-selflink selflink">mapping</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Motion_planning" title="Motion planning">Motion planning</a></li> <li><a href="/wiki/Simultaneous_localization_and_mapping" title="Simultaneous localization and mapping">Simultaneous localization and mapping</a></li> <li><a href="/wiki/Visual_odometry" title="Visual odometry">Visual odometry</a></li> <li><a href="/wiki/Vision-guided_robot_systems" title="Vision-guided robot systems">Vision-guided robot systems</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Research</th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Evolutionary_robotics" title="Evolutionary robotics">Evolutionary</a></li> <li><a href="/wiki/Robot_kit" title="Robot kit">Kits</a></li> <li><a href="/wiki/Robotics_simulator" title="Robotics simulator">Simulator</a></li> <li><a href="/wiki/Robotics_suite" title="Robotics suite">Suite</a></li> <li><a href="/wiki/Open-source_robotics" title="Open-source robotics">Open-source</a></li> <li><a href="/wiki/Robot_software" title="Robot software">Software</a></li> <li><a href="/wiki/Adaptable_robotics" title="Adaptable robotics">Adaptable</a></li> <li><a href="/wiki/Developmental_robotics" title="Developmental robotics">Developmental</a></li> <li><a href="/wiki/Human%E2%80%93robot_interaction" title="Human–robot interaction">Human–robot interaction</a></li> <li><a href="/wiki/Robotic_paradigm" title="Robotic paradigm">Paradigms</a></li> <li><a href="/wiki/Perceptual_robotics" title="Perceptual robotics">Perceptual</a></li> <li><a href="/wiki/Situated_robotics" title="Situated robotics">Situated</a></li> <li><a href="/wiki/Ubiquitous_robot" title="Ubiquitous robot">Ubiquitous</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="/wiki/List_of_robotics_companies" title="List of robotics companies">Companies</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/ABB" title="ABB">ABB</a></li> <li><a href="/wiki/Amazon_Robotics" title="Amazon Robotics">Amazon Robotics</a></li> <li><a href="/wiki/Anybots" title="Anybots">Anybots</a></li> <li><a href="/wiki/Barrett_Technology" title="Barrett Technology">Barrett Technology</a></li> <li><a href="/wiki/Boston_Dynamics" title="Boston Dynamics">Boston Dynamics</a></li> <li><a href="/wiki/Doosan_Robotics" title="Doosan Robotics">Doosan Robotics</a></li> <li><a href="/wiki/Energid_Technologies" title="Energid Technologies">Energid Technologies</a></li> <li><a href="/wiki/FarmWise" title="FarmWise">FarmWise</a></li> <li><a href="/wiki/FANUC" title="FANUC">FANUC</a></li> <li><a href="/wiki/Figure_AI" title="Figure AI">Figure AI</a></li> <li><a href="/wiki/Foster-Miller" title="Foster-Miller">Foster-Miller</a></li> <li><a href="/wiki/Harvest_Automation" title="Harvest Automation">Harvest Automation</a></li> <li><a href="/wiki/HD_Hyundai_Robotics" title="HD Hyundai Robotics">HD Hyundai Robotics</a></li> <li><a href="/wiki/Honeybee_Robotics" title="Honeybee Robotics">Honeybee Robotics</a></li> <li><a href="/wiki/Intuitive_Surgical" title="Intuitive Surgical">Intuitive Surgical</a></li> <li><a href="/wiki/IRobot" title="IRobot">IRobot</a></li> <li><a href="/wiki/KUKA" title="KUKA">KUKA</a></li> <li><a href="/wiki/Rainbow_Robotics" title="Rainbow Robotics">Rainbow Robotics</a></li> <li><a href="/wiki/Starship_Technologies" title="Starship Technologies">Starship Technologies</a></li> <li><a href="/wiki/Symbotic" title="Symbotic">Symbotic</a></li> <li><a href="/wiki/Universal_Robotics" title="Universal Robotics">Universal Robotics</a></li> <li><a href="/wiki/Wolf_Robotics" title="Wolf Robotics">Wolf Robotics</a></li> <li><a href="/wiki/Yaskawa_Electric_Corporation" title="Yaskawa Electric Corporation">Yaskawa</a></li></ul> </div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Related</th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em"> <ul><li><a href="/wiki/Critique_of_work" title="Critique of work">Critique of work</a></li> <li><a href="/wiki/Powered_exoskeleton" title="Powered exoskeleton">Powered exoskeleton</a></li> <li><a href="/wiki/Workplace_robotics_safety" title="Workplace robotics safety">Workplace robotics safety</a> <ul><li><a href="/wiki/Robotic_tech_vest" title="Robotic tech vest">Robotic tech vest</a></li></ul></li> <li><a href="/wiki/Technological_unemployment" title="Technological unemployment">Technological unemployment</a></li> <li><a href="/wiki/Terrainability" title="Terrainability">Terrainability</a></li> <li><a href="/wiki/List_of_fictional_robots_and_androids" title="List of fictional robots and androids">Fictional robots</a></li></ul> </div></td></tr><tr><td class="navbox-abovebelow" colspan="3"><div> <ul><li><span class="noviewer" typeof="mw:File"><span title="Category"><img alt="" src="//upload.wikimedia.org/wikipedia/en/thumb/9/96/Symbol_category_class.svg/16px-Symbol_category_class.svg.png" decoding="async" width="16" height="16" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/en/thumb/9/96/Symbol_category_class.svg/23px-Symbol_category_class.svg.png 1.5x, //upload.wikimedia.org/wikipedia/en/thumb/9/96/Symbol_category_class.svg/31px-Symbol_category_class.svg.png 2x" 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class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-talk-sticky-header" tabindex="-1" data-event-name="talk-sticky-header"><span class="vector-icon mw-ui-icon-speechBubbles mw-ui-icon-wikimedia-speechBubbles"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-subject-sticky-header" tabindex="-1" data-event-name="subject-sticky-header"><span class="vector-icon mw-ui-icon-article mw-ui-icon-wikimedia-article"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-history-sticky-header" tabindex="-1" data-event-name="history-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-history mw-ui-icon-wikimedia-wikimedia-history"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only mw-watchlink" id="ca-watchstar-sticky-header" tabindex="-1" data-event-name="watch-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-star mw-ui-icon-wikimedia-wikimedia-star"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-edit-sticky-header" tabindex="-1" data-event-name="wikitext-edit-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-wikiText mw-ui-icon-wikimedia-wikimedia-wikiText"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-ve-edit-sticky-header" tabindex="-1" data-event-name="ve-edit-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-edit mw-ui-icon-wikimedia-wikimedia-edit"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-viewsource-sticky-header" tabindex="-1" data-event-name="ve-edit-protected-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-editLock mw-ui-icon-wikimedia-wikimedia-editLock"></span> <span></span> </a> </div> <div class="vector-sticky-header-buttons"> <button class="cdx-button cdx-button--weight-quiet mw-interlanguage-selector" id="p-lang-btn-sticky-header" tabindex="-1" data-event-name="ui.dropdown-p-lang-btn-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-language mw-ui-icon-wikimedia-wikimedia-language"></span> <span>5 languages</span> </button> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--action-progressive" id="ca-addsection-sticky-header" tabindex="-1" data-event-name="addsection-sticky-header"><span class="vector-icon mw-ui-icon-speechBubbleAdd-progressive mw-ui-icon-wikimedia-speechBubbleAdd-progressive"></span> <span>Add topic</span> </a> </div> <div class="vector-sticky-header-icon-end"> <div class="vector-user-links"> </div> </div> </div> </div> </div> <div class="vector-settings" id="p-dock-bottom"> <ul></ul> </div><script>(RLQ=window.RLQ||[]).push(function(){mw.config.set({"wgHostname":"mw-web.codfw.main-b766959bd-mqjfl","wgBackendResponseTime":124,"wgPageParseReport":{"limitreport":{"cputime":"0.345","walltime":"0.416","ppvisitednodes":{"value":860,"limit":1000000},"postexpandincludesize":{"value":38042,"limit":2097152},"templateargumentsize":{"value":1253,"limit":2097152},"expansiondepth":{"value":12,"limit":100},"expensivefunctioncount":{"value":4,"limit":500},"unstrip-depth":{"value":1,"limit":20},"unstrip-size":{"value":27175,"limit":5000000},"entityaccesscount":{"value":0,"limit":400},"timingprofile":["100.00% 368.945 1 -total"," 27.61% 101.883 1 Template:Reflist"," 22.63% 83.485 1 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