Bathymetric Particle Filter SLAM With Graph-Based Trajectory Update Method

A Hybrid Filter-based and Graph-based approach to SLAM

This paper introduces a new approach to SLAM which combines an Information Filter and a non linear optimizer. The basic idea of the suggested technique is to use the Information Filter when the system non linearities are negligible, and to switch to the use of the non linear optimizer when the non linearities are not negligible. Extensive simulations are provided in order to evaluate the perfor...

Visual Trajectory Based SLAM

Vision-based SLAM using the Rao-Blackwellised Particle Filter

We consider the problem of Simultaneous Localization and Mapping (SLAM) from a Bayesian point of view using the Rao-Blackwellised Particle Filter (RBPF). We focus on the class of indoor mobile robots equipped with only a stereo vision sensor. Our goal is to construct dense metric maps of natural 3D point landmarks for large cyclic environments in the absence of accurate landmark position measur...

Stereo vision specific models for particle filter-based SLAM

This work addresses the SLAM problem for stereo vision systems under the unified formulation of particle filter methods. In contrast to most existing approaches to visual SLAM, the present method does not rely on restrictive smooth camera motion models, but on computing incremental 6D pose differences from the image flow through a probabilistic visual odometry method. Moreover, our observation ...

An SLAM Algorithm Based on Square-root Cubature Particle Filter

The lack of the latest measurement information and the Particle serious degradation cause low estimation precision in the tradition particle filter SLAM (simultaneous localization and mapping). For solve this problem, a SRCPF-SLAM (square cubature particle filter simultaneous localization and mapping) is proposed in this paper. The algorithm fuses the latest measurement information in the stage...