Bridging the gap between feature- and grid-based SLAM

One important design decision for the development of autonomously navigating mobile robots is the choice of the representation of the environment. This includes the question of which type of features should be used, or whether a dense representation such as occupancy grid maps is more appropriate. In this paper, we present ail approach which performs SLAM using multiple representations of the environment simultaneously. It uses reinforcement to learn when to switch to ail alternative representation method depending on the current observation. This allows the robot to update its pose and map estimate based on the representation that models the surrounding of the robot in the best way. The approach has been implemented oil a real robot and evaluated in scenarios, in which a robot has to navigate in-and outdoors and therefore switches between a landmark-based representation and a dense grid map. In practical experiments, we demonstrate that our approach allows a robot to robustly map environments which cannot be adequately modeled by either of the individual representations. (C) 2009 Elsevier B.V. All rights reserved.