ABSTRACT
For purposes of navigational referencing, indoor robotic systems can take advantage of a number of established landmarks in the form of wall structures, doorways, and ceilings or overhead beams that are not available in outdoor scenarios. (Outdoor applications, on the other hand, can take advantage of differential GPS, which is ineffective indoors due to signal blockage.)
Interior walls are probably the most commonly used structural attribute for deriving position and orientation information, with performance results determined primarily by the inherent accuracy limitations of the measurement techniques employed. Existing methodologies can be divided into four general classes:
• Tactile — The robotic platform aligns itself through direct physical contact with a wall of known orientation and location.
