{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T05:27:46Z","timestamp":1774416466053,"version":"3.50.1"},"reference-count":51,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2002,4,1]],"date-time":"2002-04-01T00:00:00Z","timestamp":1017619200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2002,4]]},"abstract":"<jats:p> In this paper we describe a new technique for the creation of feature-based stochastic maps using standard Polaroid sonar sensors. The fundamental contributions of our proposal are: (1) a perceptual grouping process that permits the robust identification and localization of environmental features, such as straight segments and corners, from the sparse and noisy sonar data; (2) a map joining technique that allows the system to build a sequence of independent limited-size stochastic maps and join them in a globally consistent way; (3) a robust mechanism to determine which features in a stochastic map correspond to the same environment feature, allowing the system to update the stochastic map accordingly, and perform tasks such as revisiting and loop closing. We demonstrate the practicality of this approach by building a geometric map of a medium size, real indoor environment, with several people moving around the robot. Maps built from laser data for the same experiment are provided for comparison. <\/jats:p>","DOI":"10.1177\/027836402320556340","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T05:53:44Z","timestamp":1058594024000},"page":"311-330","source":"Crossref","is-referenced-by-count":374,"title":["Robust Mapping and Localization in Indoor Environments Using Sonar Data"],"prefix":"10.1177","volume":"21","author":[{"given":"Juan D.","family":"Tard\u00f3s","sequence":"first","affiliation":[{"name":"Dept. Inform\u00e1tica e Ingenier\u00eda de Sistemas, Universidad de Zaragoza Mar\u00eda de Luna 3 E-50018 Zaragoza, Spain,"}]},{"given":"Jos\u00e9","family":"Neira","sequence":"additional","affiliation":[{"name":"Dept. Inform\u00e1tica e Ingenier\u00eda de Sistemas, Universidad de Zaragoza Mar\u00eda de Luna 3 E-50018 Zaragoza, Spain,"}]},{"given":"Paul M.","family":"Newman","sequence":"additional","affiliation":[{"name":"MIT Dept. of Ocean Engineering 77 Massachusetts Avenue Cambridge, MA 02139-4307 USA,"}]},{"given":"John J.","family":"Leonard","sequence":"additional","affiliation":[{"name":"MIT Dept. of Ocean Engineering 77 Massachusetts Avenue Cambridge, MA 02139-4307 USA,"}]}],"member":"179","published-online":{"date-parts":[[2002,4,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-4356-4"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88101"},{"key":"atypb3","volume-title":"Computer Vision","author":"Ballard, D.H.","year":"1982"},{"key":"atypb4","volume-title":"Tracking and Data Association","author":"Bar-Shalom, Y.","year":"1988"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/34.56192"},{"key":"atypb6","first-page":"287","author":"Brooks, R.A.","year":"1984","journal-title":"Second Int. Symp. Robotics Research"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/70.795798"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/70.976024"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4405-0"},{"issue":"1","key":"atypb10","first-page":"3","volume":"18","author":"Chong, K.S.","year":"1999","journal-title":"Int. J. Robotics Research"},{"issue":"1","key":"atypb11","first-page":"20","volume":"18","author":"Chong, K.S.","year":"1999","journal-title":"Int. J. Robotics Research"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/70.928558"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(94)90029-9"},{"key":"atypb14","volume-title":"Mobile Robot Navigation Using Active Vision","author":"Davison, A.J.","year":"1998"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1109\/70.938381"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-3437-9"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087096"},{"key":"atypb18","volume-title":"Three-Dimensional Computer Vision: A Geometric Viewpoint","author":"Faugeras, O.","year":"1993"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/3259.001.0001"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066484"},{"issue":"6","key":"atypb21","first-page":"381","volume":"24","author":"Fischler, M.A.","year":"1981","journal-title":"Comm. Assoc. Comp. Mach"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00144-0"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1109\/70.938382"},{"key":"atypb24","volume-title":"IEEE Int. Symp. on Computational Intelligence in Robotics and Automation CIRA","author":"Gutmann, J.S."},{"key":"atypb25","volume-title":"Multiple View Geometry in Computer Vision","author":"Hartley, R.","year":"2000"},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1016\/S0734-189X(88)80033-1"},{"key":"atypb27","volume-title":"Stochastic Processes and Filtering Theory","author":"Jazwinski, A.H.","year":"1970"},{"key":"atypb28","volume-title":"Approaches to Mobile Robot Localization in Indoor Environments","author":"Jensfelt, P.","year":"2001"},{"key":"atypb29","volume-title":"Array Signal Processing","author":"Johnson, D.","year":"1993"},{"key":"atypb30","volume-title":"Proc. IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems IROS","author":"Julier, S.J."},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400401"},{"key":"atypb32","volume-title":"Proc. IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems IROS","author":"Knight, J."},{"key":"atypb33","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1987.4767983"},{"key":"atypb34","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(00)00017-5"},{"key":"atypb35","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-3652-9"},{"key":"atypb36","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0765-1_21"},{"key":"atypb37","volume-title":"Foreword","author":"Lozano-P\u00e9rez, T.","year":"1989"},{"key":"atypb38","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"atypb39","volume-title":"5th Int. Symp. on Robotics Research","author":"Moutarlier, P."},{"key":"atypb40","doi-asserted-by":"publisher","DOI":"10.1109\/70.976019"},{"key":"atypb41","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700003143"},{"key":"atypb42","volume-title":"Probability, Random Variables, and Stochastic Processes","author":"Papoulis, A.","year":"1991"},{"key":"atypb43","doi-asserted-by":"publisher","DOI":"10.1109\/70.210793"},{"key":"atypb44","volume-title":"Proc. IEEE Int. Conf. Robotics and Automation","author":"Schultz, A.C."},{"key":"atypb45","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500404"},{"key":"atypb46","unstructured":"Smith, R., and Self, M., and Cheeseman, P. 1988. A stochastic map for uncertain spatial relationships . In Robotics Research, The Fourth Int. Symp., eds. O. Faugeras and G. Giralt , 467-474. The MIT Press."},{"key":"atypb47","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067435"},{"key":"atypb48","doi-asserted-by":"publisher","DOI":"10.1109\/70.897785"},{"key":"atypb49","volume-title":"Triangulation Based Fusion of Sonar Data with Application in Mobile Robot Mapping and Localization","author":"Wijk, O.","year":"2001"},{"key":"atypb50","volume-title":"Efficient Solutions to Autonomous Mapping and Navigation Problem","author":"Williams, S.B.","year":"2001"},{"key":"atypb51","volume-title":"9th Int. Symp. on Intelligent Robotic Systems","author":"Zunino, G."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836402320556340","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836402320556340","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T20:08:31Z","timestamp":1740946111000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836402320556340"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,4]]},"references-count":51,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2002,4]]}},"alternative-id":["10.1177\/027836402320556340"],"URL":"https:\/\/doi.org\/10.1177\/027836402320556340","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2002,4]]}}}