A Novel Hybrid Map Representation for DenseSLAM in Unstructured Large Environments
نویسندگان
چکیده
This paper presents a new hybrid metric map representation (HMM) that combines feature maps with other dense metric sensory information. Representing non-geometric properties of the environment is one of the outstanding challenges in robotic research. The representation presented here will allow the robot to perform DenseSLAM. DenseSLAM is the process of performing SLAM whilst obtaining a dense representation of the environment. Also a new concept named Diode Correlation is introduced to demonstrate the consistency of the proposed maps. Initial experimental results in outdoor environments are also presented to validate the algorithm proposed.
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