D-SLAM: A Decoupled Solution to Simultaneous Localization and Mapping
نویسندگان
چکیده
منابع مشابه
D-SLAM: A Decoupled Solution to Simultaneous Localization and Mapping
The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated processes: D-SLAM (decoupled SLAM). It is shown that SLAM with a range and bearing sensor in an environment populated with point features can be decoupled into solving a nonlin...
متن کاملD-SLAM: Decoupled Localization and Mapping for Autonomous Robots
The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated processes: D-SLAM (decoupled SLAM). It is shown that SLAM can be decoupled into solving a non-linear static estimation problem for mapping and a low-dimensional dynamic estimat...
متن کاملSimultaneous Localization and Mapping (SLAM)
Recall that the main difficulty with particle filtering is that with a high dimensional state variable xt, an impossibly large number of particles is needed to accurately represent P (xt|z0:t). In some filtering problems, it is possible to exploit conditional independence of components of the state variables x1:t in order to reduce the number of particles needed. In this lecture we will see exa...
متن کاملSimultaneous Localization and Mapping using Graphical SLAM
The problem of Simultaneous Localization and Mapping is addressed using a graphical method. The method has several advantages that will be explained. These include better linearizations and more flexible data associations. Also the detection and imposition of topological constraints on the map solution will be discussed. Experimental data collected on both outdoor and indoor robots using laser ...
متن کاملGenerative Simultaneous Localization and Mapping (G-SLAM)
Environment perception is a crucial ability for robot’s interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is proposed, where the map is considered as a set of scattered points in the continuous space followed by a probability that states the existence of an obstacle in t...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2007
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364906075173