Subpixel Map Registration and Estimation of Uncertainty

A method of determining the location and the uncertainty in the location of a mobile robot to subpixel resolution on a map grid has been devised. The method is applicable to a robot equipped with stereoscopic vision equipment for mapping the local terrain and with sensors for determining its orientation. The method involves fitting a parameterized surface (usually a normal distribution) to the peak of a likelihood function in the space of possible positions.