{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T13:56:20Z","timestamp":1761486980052,"version":"3.38.0"},"reference-count":69,"publisher":"SAGE Publications","issue":"10-11","license":[{"start":{"date-parts":[[2002,10,1]],"date-time":"2002-10-01T00:00:00Z","timestamp":1033430400000},"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":[[2002,10]]},"abstract":"<jats:p> In this paper we present a technique for mapping partially observable features from multiple uncertain vantage points. The problem of concurrent mapping and localization (CML) is stated as follows. Starting from an initial known position, a mobile robot travels through a sequence of positions, obtaining a set of sensor measurements at each position. The goal is to process the sensor data to produce an estimate of the trajectory of the robot while concurrently building a map of the environment. In this paper, we describe a generalized framework for CML that incorporates temporal as well as spatial correlations. The representation is expanded to incorporate past vehicle positions in the state vector. Estimates of the correlations between current and previous vehicle states are explicitly maintained. This enables the consistent initialization of map features using data from multiple time steps. Updates to the map and the vehicle trajectory can also be performed in batches of data acquired from multiple vantage points. The method is illustrated with sonar data from a testing tank and via experiments with a B21 land mobile robot, demonstrating the ability to perform CML with sparse and ambiguous data. <\/jats:p>","DOI":"10.1177\/0278364902021010889","type":"journal-article","created":{"date-parts":[[2003,4,28]],"date-time":"2003-04-28T10:25:30Z","timestamp":1051525530000},"page":"943-975","source":"Crossref","is-referenced-by-count":50,"title":["Mapping Partially Observable Features from Multiple Uncertain Vantage Points"],"prefix":"10.1177","volume":"21","author":[{"given":"John J.","family":"Leonard","sequence":"first","affiliation":[{"name":"MIT Department of Ocean Engineering Cambridge, MA 02139, USA"}]},{"given":"Richard J.","family":"Rikoski","sequence":"additional","affiliation":[{"name":"MIT Department of Ocean Engineering Cambridge, MA 02139, USA"}]},{"given":"Paul M.","family":"Newman","sequence":"additional","affiliation":[{"name":"MIT Department of Ocean Engineering Cambridge, MA 02139, USA"}]},{"given":"Michael","family":"Bosse","sequence":"additional","affiliation":[{"name":"MIT Department of Ocean Engineering Cambridge, MA 02139, USA"}]}],"member":"179","published-online":{"date-parts":[[2002,10,1]]},"reference":[{"volume-title":"Optimal Filtering.","year":"1979","author":"Anderson B. D. O.","key":"bibr1-0278364902021010889"},{"key":"bibr2-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-4356-4"},{"key":"bibr3-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/70.88101"},{"volume-title":"Computer Vision.","year":"1982","author":"Ballard D.","key":"bibr4-0278364902021010889"},{"volume-title":"Tracking and Data Association.","year":"1988","author":"Bar-Shalom Y.","key":"bibr5-0278364902021010889"},{"volume-title":"An atlas framework for scalable mapping.","year":"2002","author":"Bosse M.","key":"bibr6-0278364902021010889"},{"key":"bibr7-0278364902021010889","unstructured":"Bosse M., Rikoski R., Leonard J., and Teller S. September 2002b. Vanishing points and 3d lines from omnidirectional video. In Int. Conf. on Image Processing, Rochester, NY."},{"key":"bibr8-0278364902021010889","unstructured":"Brooks R. A. 1984. Aspects of mobile robot visual map making. In 2nd Int. Symp. Robotics Research, Tokyo, Japan, pp. 287\u2013293. MIT Press."},{"key":"bibr9-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(71)90121-X"},{"key":"bibr10-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2001.968756"},{"volume-title":"Mobile Robot Localization and Map Building: A Multisensor Fusion Approach.","year":"2000","author":"Castellanos J. A.","key":"bibr11-0278364902021010889"},{"key":"bibr12-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Chiuso A., Favaro P., Jin H., and Soatto S. 2000. 3-d motion and structure from 2-d motion causually integrated over time: Implementation. In 6th European Conference on Computer Vision.","DOI":"10.1007\/3-540-45053-X_47"},{"key":"bibr13-0278364902021010889","unstructured":"Chong K. S., and Kleeman L. 1997a. Sonar based map building in large indoor environments. Technical Report MECSE-1997-1, Department of Electrical and Computer Systems Engineering, Monash University."},{"key":"bibr14-0278364902021010889","unstructured":"Chong K. S., and Kleeman L. 1997b. Sonar feature map building for a mobile robot. In Proc. IEEE Int. Conf. Robotics and Automation."},{"key":"bibr15-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/70.928558"},{"key":"bibr16-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(94)90029-9"},{"volume-title":"Mobile Robot Navigation Using Active Vision.","year":"1998","author":"Davison A. J.","key":"bibr17-0278364902021010889"},{"key":"bibr18-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Deans M. May 2002. Maximally informative statistics for localization and mapping. In Proc. IEEE Int. Conf. Robotics and Automation, pp. 1824\u20131829.","DOI":"10.1109\/ROBOT.2002.1014806"},{"key":"bibr19-0278364902021010889","unstructured":"Deans M., and Hebert M. December 2000. Experimental comparison of techniques for localization and mapping using a bearings only sensor. In Proc. ISER \u201800 7th International Symposium on Experimental Robotics."},{"key":"bibr20-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Dissanayake M. W. M. G., Newman P., Durrant-Whyte H. F., Clark S., and Csorba M. March 1999. An experimental and theoretical investigation into simultaneous localization and map building. In 6th Int. Symposium on Experimental Robotics, pp. 265\u2013274.","DOI":"10.1007\/BFb0119405"},{"key":"bibr21-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/70.938381"},{"key":"bibr22-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-3437-9"},{"key":"bibr23-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/9.847726"},{"volume-title":"Three-Dimensional Computer Vision: A Geometric Viewpoint.","year":"1993","author":"Faugeras O.","key":"bibr24-0278364902021010889"},{"key":"bibr25-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/3259.001.0001"},{"volume-title":"Simultaneous Stochastic Mapping and Localization.","year":"1999","author":"Feder H. J. S.","key":"bibr26-0278364902021010889"},{"key":"bibr27-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066484"},{"key":"bibr28-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Fenwick J., Newman P., and Leonard J. May 2002. Collaborative concurrent mapping and localization. In Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC, pp. 1810\u20131817.","DOI":"10.1109\/ROBOT.2002.1014804"},{"key":"bibr29-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"volume-title":"Bounded-Error Vision-Based Navigation of Autonomous Underwater Vehicles.","year":"2000","author":"Fleischer S. D.","key":"bibr30-0278364902021010889"},{"volume-title":"Object Recognition by Computer: The Role of Geometric Constraints.","year":"1990","author":"Grimson W. E. L.","key":"bibr31-0278364902021010889"},{"key":"bibr32-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/70.938382"},{"key":"bibr33-0278364902021010889","unstructured":"Gutmann J.S., and Konolige K. 1999. Incremental mapping of large cyclic environments. In Int. Symposium on Computational Intelligence in Robotics and Automation."},{"volume-title":"Multiple View Geometry in Computer Vision.","year":"2001","author":"Hartley R. I.","key":"bibr34-0278364902021010889"},{"key":"bibr35-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Heale A., and Kleeman L. 2001. Fast target classification using sonar. In Proc. IEEE Int. Workshop on Intelligent Robots and Systems, pp. 1446\u20131451.","DOI":"10.1109\/IROS.2001.977184"},{"volume-title":"Approaches to Mobile Robot Localization in Indoor Environments.","year":"2001","author":"Jensfelt P.","key":"bibr36-0278364902021010889"},{"key":"bibr37-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"volume-title":"Robotics Research: The 10th Int. Symposium, Lorne, Australia.","year":"2001","author":"Kleeman L.","key":"bibr38-0278364902021010889"},{"volume-title":"Mobile robot sonar for target localization and classification.","year":"1993","author":"Kleeman L.","key":"bibr39-0278364902021010889"},{"key":"bibr40-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Kuc R. 1996. Fusing binaural sonar information for object recognition. In IEEE\/SICE\/RSJ Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp. 727\u2013735.","DOI":"10.1109\/MFI.1996.572309"},{"key":"bibr41-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(00)00017-5"},{"key":"bibr42-0278364902021010889","first-page":"43","volume-title":"Multitarget-Multisensor Tracking: Advanced Applications","author":"Kurien T.","year":"1990"},{"key":"bibr43-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100402"},{"key":"bibr44-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-3652-9"},{"key":"bibr45-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/48.972094"},{"volume-title":"Robotics Research: The 10th Int. Symposium, Lorne, Australia.","year":"2001","author":"Leonard J. J.","key":"bibr46-0278364902021010889"},{"volume-title":"Probabilistic modelling and stochastic algorithms for visual localisation and tracking.","year":"2000","author":"MacCormick J.","key":"bibr47-0278364902021010889"},{"key":"bibr48-0278364902021010889","doi-asserted-by":"crossref","unstructured":"McLauchlan P. F. 2000. A batch\/recursive algorithm for 3d scene reconstruction. In Int. Conf. Computer Vision and Pattern Recognition, Volume 2, Hilton Head, SC, pp. 738\u2013743.","DOI":"10.1109\/CVPR.2000.854948"},{"key":"bibr49-0278364902021010889","doi-asserted-by":"crossref","unstructured":"McLauchlan P. F., and Murray D. W. 1995. A unifying framework for structure and motion recovery from image sequences. In Proc. Int. Conference on Computer Vision, Boston, MA, pp. 314\u2013320.","DOI":"10.1109\/ICCV.1995.466923"},{"key":"bibr50-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/34.476007"},{"key":"bibr51-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1986.1104306"},{"key":"bibr52-0278364902021010889","unstructured":"Moutarlier P., and Chatila R. 1989. Stochastic multi-sensory data fusion for mobile robot location and environment modeling. In 5th Int. Symposium on Robotics Research, pp. 207\u2013216."},{"key":"bibr53-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/70.976019"},{"key":"bibr54-0278364902021010889","unstructured":"Newman P., Bosse M., and Leonard J. 2002. Autonomous feature-based exploration. Technical Report Marine Robotics Laboratory Technical Memorandum 02-03, Massachusetts Institute of Technology."},{"key":"bibr55-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Newman P., Leonard J., Neira J., and Tard\u00f3s J. May 2002. Explore and return: Experimental validation of real time concurrent mapping and localization. In Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC, pp. 1802\u20131809.","DOI":"10.1109\/ROBOT.2002.1014803"},{"key":"bibr56-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1979.1102177"},{"volume-title":"GOATS-98 - AUV network sonar concepts for shallow water mine countermeasures.","year":"1998","author":"Schmidt H.","key":"bibr57-0278364902021010889"},{"key":"bibr58-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Schultz A. C., and Adams W. 1998. Continuous localization using evidence grids. In Proc. IEEE Int. Conf. Robotics and Automation, pp. 2833\u20132839.","DOI":"10.1109\/ROBOT.1998.680595"},{"volume-title":"A stochastic map for uncertain spatial relationships.","year":"1987","author":"Smith R.","key":"bibr59-0278364902021010889"},{"key":"bibr60-0278364902021010889","first-page":"127","volume-title":"Bayesian Analysis of Time Series and Dynamic Models","author":"Sorenson H. W.","year":"1988"},{"key":"bibr61-0278364902021010889","unstructured":"Tard\u00f3s J., Neira J., Newman P. M., and Leonard J. J. 2001. Robust mapping and localization in indoor environments using sonar data. Technical Report Marine Robotics Laboratory Technical Memorandum 2001-4\u2019 MIT. See http:\/\/oe.mit.edu\/~jleonard\/pubs\/tardosetalijrr_2002.pdf"},{"key":"bibr62-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/34.473228"},{"key":"bibr63-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067435"},{"key":"bibr64-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-44480-7_21"},{"key":"bibr65-0278364902021010889","doi-asserted-by":"publisher","DOI":"10.1109\/70.897785"},{"volume-title":"Efficient solutions to autonomous navigation and mapping problems.","year":"2001","author":"Williams S.","key":"bibr66-0278364902021010889"},{"key":"bibr67-0278364902021010889","unstructured":"Williams S., Dissanayake G., and Durrant-Whyte H. June 2001. Constrained initialisation of the simultaneous localisation and mapping algorithm. In Field and Service Robot 2001, Finland, pp. 309\u2013314. ISBN 952-5183-13-0."},{"key":"bibr68-0278364902021010889","doi-asserted-by":"crossref","unstructured":"Yagi Y., Shouya K., and Yachida M. May 2000. Environmental map generation and ego-motion estimation in a dynamic environment for an omni-directional image sensor. In Proc. IEEE Int. Conf. Robotics and Automation, pp. 3493\u20133498.","DOI":"10.1109\/ROBOT.2000.845273"},{"key":"bibr69-0278364902021010889","unstructured":"Zunino G., and Christensen H.I. July 2001. SLAM in realistic environments. In M. Devy, ed., Symposium on Intelligent Robotic Systems, Toulouse, France."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364902021010889","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364902021010889","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T19:42:02Z","timestamp":1740858122000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364902021010889"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,10]]},"references-count":69,"journal-issue":{"issue":"10-11","published-print":{"date-parts":[[2002,10]]}},"alternative-id":["10.1177\/0278364902021010889"],"URL":"https:\/\/doi.org\/10.1177\/0278364902021010889","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2002,10]]}}}