Open AccessMulti-resolution SLAM for Real World Navigation
Author(s) -
Agostino Martinelli,
Adriana Tapus,
Kai O. Arras,
Roland Siegwart
Publication year - 2005
Publication title -
springer tracts in advanced robotics
Language(s) - English
Resource type - Book series
SCImago Journal Rank - 0.485
H-Index - 49
eISSN - 1610-742X
pISSN - 1610-7438
DOI - 10.1007/11008941_47
Subject(s) - initialization , metric (unit) , computer science , odometry , artificial intelligence , fingerprint (computing) , representation (politics) , topology (electrical circuits) , metric map , computer vision , simultaneous localization and mapping , metric space , mathematics , robot , mobile robot , engineering , programming language , operations management , combinatorics , politics , law , political science , mathematical analysis , convex metric space
In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the problem of the drift in odometry. For the topological framework the fingerprint sequence approach is used. During the construction of the topological map, a communication between the two paradigms is established. The fingerprint used for topological navigation enables also the re-initialization of the metric localization. The experimentation section will validate the multi-resolution-representation maps approach and presents different steps of the method
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom