DUGi: Item | DUGiDocs - Local map update for large scale SLAM

Item

Author:	Aulinas Masó, Josep M. Salvi, Joaquim Lladó Bardera, Xavier Petillot, Yvan R.
Date:	2010
Abstract:	A technique for simultaneous localisation and mapping (SLAM) for large scale scenarios is presented. This solution is based on the use of independent submaps of a limited size to map large areas. In addition, a global stochastic map, containing the links between adjacent submaps, is built. The information in both levels is corrected every time a loop is closed: local maps are updated with the information from overlapping maps, and the global stochastic map is optimised by means of constrained minimisation
Format:	application/pdf
Citation:	Aulinas, J., Salvi, J., Llado, X., i Petillot, Y. (2010). Local map update for large scale SLAM. Electronics Letters, 46, 8, 564-566. Recuperta 17-05-2010, a: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5451008
ISSN:	0013-5194
Document access:	http://hdl.handle.net/10256/2302
Language:	eng
Publisher:	IEEE
Collection:	Reproducció digital del document publicat a: http://dx.doi.org/10.1049/el.2010.2271 Articles publicats (D-ATC)
Is part of:	© Electronics Letters, 2010, vol. 46, p. 564-566
Rights:	Tots els drets reservats
Subject:	Algorismes computacionals Imatges -- Processament Processos estocàstics Computer algorithms Image processing Stochastic processes
Title:	Local map update for large scale SLAM
Type:	info:eu-repo/semantics/article
Repository:	DUGiDocs