SIMULTANEOUS LOCALIZATION AND MAP BUILDING ALGORITHM FOR REAL-TIME APPLICATIONS

Simultaneous Localization and Map Building Algorithm for Real-time Applications

Mobile robot navigation in unstructured environment is a challenging task due to the uncertain nature of the real world. Navigating using visual landmarks could be a mandatory skill together with the ability of building a representation of the world around the robot. This mapping aptitude should be implemented as an efficient real-time task, even if a large number of elements have to be include...

Optimization of the simultaneous localization and map-building algorithm for real-time implementation

This paper addresses real-time implementation of the simultaneous localization and map-building (SLAM) algorithm. It presents optimal algorithms that consider the special form of the matrices and a new compressed filter that can significantly reduce the computation requirements when working in local areas or with high frequency external sensors. It is shown that by extending the standard Kalman...

Filter Design for Simultaneous Localization and Map Building (SLAM)

This paper deals with the fusion of random variables when cross covariances are unknown. This is a vital problem in nearly every real world application since cross covariances are often impossible to obtain but also cannot be ignored. We provide a rigorous derivation of the fusion equations which are also known as covariance intersection. This approach allows us to derive an iterative scheme fo...

Robot Collaboration for Simultaneous Map Building and Localization

Generalized architecture for simultaneous localization, auto-calibration, and map-building

This paper discusses the design of a very general architectural framework for navigation and tracking systems that fuse dead-reckoning sensors (e.g. inertial or encoders) with environment-referenced sensors, such as ultrasonic, optical, magnetic, or RF sensors. The framework enables systems that simultaneously track themselves, construct a map of landmarks in the environment, and calibrate sens...