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Local map update for large scale SLAM

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

漏 Electronics Letters, 2010, vol. 46, p. 564-566

IEEE

Author: Aulinas Mas贸, Josep M.
Salvi, Joaquim
Llad贸 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: Reproducci贸 digital del document publicat a: http://dx.doi.org/10.1049/el.2010.2271
Articles publicats (D-ATC)
Is part of: 漏 Electronics Letters, 2010, vol. 46, p. 564-566
Rights: Tots els drets reservats
Subject: Algorismes computacionals
Imatges -- Processament
Processos estoc脿stics
Computer algorithms
Image processing
Stochastic processes
Title: Local map update for large scale SLAM
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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