Studies on Electrokinetic Potentials IX. The Electrical by Bull H. B.
By Bull H. B.
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Sample text
Scan matching is a SLAM method, but it can only accommodate very small amounts of location uncertainties. The failure to close loops is obvious from Fig. 5a. In fact, pairwise 26 S. Thrun Fig. 5. An occupancy grid map of an abandoned mine. The left map estimates the data association incrementally, and only in reference to the most recent sensor measurement. The right map is the result of a global data association search and a graphical optimization. Images courtesy of Dirk H¨ ahnel, University of Freiburg.
Autonomous Robots (March 2004) 2 Hybrid, Metric-Topological Representation for Localization and Mapping Nicola Tomatis Summary. This chapter describes an approach for indoor spatial representation, which is used to model the environment for the navigation of a fully autonomous robot. The metric and topological paradigms are integrated in a hybrid system for both localization and map building: A global topological map connects local metric maps avoiding the requirement of global metric consistency.
The particle representation of FastSLAM has a number of advantages. Computationally, FastSLAM can be used as a filter, and its update requires linear-logarithmic time where EKF needed quadratic time. Further, FastSLAM can sample over data association, which makes it a prime method for SLAM with unknown data association. On the negative side, the number of necessary particles can grow very large, especially for robots seeking to map multiple nested loops. We discussed extensions of FastSLAM that use occupancy grid maps instead of Gaussian landmarks, and showed state-of-the-art examples in large map building.