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Hybrid Topological/Metric Approach to SLAM

Kouzoubov, Kirill; Austin, David

Description

We present a new topological/metric approach to solving the Simultaneous Localisation and Mapping problem. The map is represented as a graph - nodes are local map frames, and edges are transformations between adjacent map frames. The underlying local mapping algorithm is FastSLAM. The local maps and transformations are modelled by sets of particles. There is no global map frame, each map's uncertainties are restricted to its own map frame. The loop closing is achieved via efficient map...[Show more]

CollectionsANU Research Publications
Date published: 2004
Type: Conference paper
URI: http://hdl.handle.net/1885/78118
Source: Proceedings of the 2004 IEEE International Conference on Robotics and Automation

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