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Aulinas Mas贸, Josep M.
Salvi, Joaquim Llad贸 Bardera, Xavier Petillot, Yvan R. |
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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 | |
http://hdl.handle.net/2072/58620 | |
eng | |
IEEE | |
Tots els drets reservats | |
Algorismes computacionals
Imatges -- Processament Processos estoc脿stics Computer algorithms Image processing Stochastic processes |
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Local map update for large scale SLAM | |
info:eu-repo/semantics/article | |
Recercat |