Editing Robotic mapping (section)

== Operation ==
The robot has two sources of information: the [[idiothetic]] and the [[allothetic]] sources. When in motion, a robot can use [[dead reckoning]] methods such as tracking the number of revolutions of its wheels; this corresponds to the [[idiothetic]] source and can give the absolute position of the robot, but it is subject to cumulative error which can grow quickly.

The [[allothetic]] source corresponds the sensors of the robot, like a camera, a microphone, [[laser]], [[lidar]] or [[sonar]].{{citation needed|date=October 2018}} The problem here is "[[perceptual aliasing]]". 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.<ref>Filliat, David, and Jean-Arcady Meyer. "[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]." Cognitive Systems Research 4.4 (2003): 243-282.</ref> 3-dimensional models of a robot's environment can be generated using [[range imaging]] sensors<ref>Jensen, Björn, et al. [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]. ETH-Zürich, 2005, 2005.</ref> or [[3D scanner]]s.<ref>Surmann, Hartmut, Andreas Nüchter, and Joachim Hertzberg. "[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]." Robotics and Autonomous Systems 45.3-4 (2003): 181-198.</ref><ref name="Saeed2011">{{cite book|author=Malik, Aamir Saeed|title=Depth Map and 3D Imaging Applications: Algorithms and Technologies: Algorithms and Technologies|url=https://books.google.com/books?id=ouyeBQAAQBAJ|date=30 November 2011|publisher=IGI Global|isbn=978-1-61350-327-0}}</ref>