Treemap is a generic SLAM algorithm that has been successfully used to estimate extremely large 2D maps closing a loop over a million landmarks in 442ms. We are currently working on an open-source implementation that can handle most variants of SLAM. In this paper we show initial results demonstrating 6-DOF feature based SLAM and closing a simulated loop over 106657 3D features in 209ms.

Theoretically, homogeneous environments favor the evolution of specialists whereas heterogeneous environments favor generalists. Canine distemper is a multi-host carnivore disease caused by canine distemper virus (CDV). The described cell receptor of CDV is SLAM (CD150). Attachment of CDV hemagglutinin protein (CDV-H) to this receptor facilitates fusion and virus entry in cooperation with the f...

In this paper we present an active SLAM solution with an active loop closing component which is independent on exploration component and at the same time allows high accuracy robot’s pose estimation and complete environment mapping. Inputs to our SLAM algorithm are RGBD image from the Kinect sensor and odometry estimates obtained from inertial measurement unit and wheel encoders. SLAM is based ...

This article presents a solution to the problem of fusing measurements acquired from a monocular camera with inertial data to achieve simultaneous localization and mapping (SLAM) tasks. This paper describes the models used to correctly integrate inertial and vision data in an EKF-SLAM based application, and ways to perform the fusion on low cost hardware. Both synthetic and real sequences show ...

This thesis is concerned with Simultaneous Localisation and Mapping (SLAM), a technique by which a platform can estimate its trajectory with greater accuracy than odometry alone, especially when the trajectory incorporates loops. We discuss some of the shortcomings of the "classical" SLAM approach (in particular EKF-SLAM), which assumes that no information is known about the environment a prior...

Forest mapping, one of the main components of performing a forest inventory, is an important driving force in the development of laser scanning. Mobile laser scanning (MLS), in which laser scanners are installed on moving platforms, has been studied as a convenient measurement method for forest mapping in the past several years. Positioning and attitude accuracies are important for forest mappi...

This note describes a Sliding Window Filter that is an on-line constanttime approximation to the feature-based 6-degree-of-freedom full Batch Least Squares Simultaneous Localization and Mapping (SLAM) problem. We contend that for SLAM to be useful in large environments and over extensive run-times, its computational time complexity must be constant, and its memory requirements should be at most...

The surfaces of many Gram-negative bacteria are decorated with soluble proteins anchored to the outer membrane via an acylated N-terminus; these proteins are referred to as surface lipoproteins or SLPs. In Neisseria meningitidis, SLPs such as transferrin-binding protein B (TbpB) and factor-H binding protein (fHbp) are essential for host colonization and infection because of their essential role...

CD1d-restricted NKT cells make up an innate-like T cell subset that plays a role in amplifying the response of innate immune leukocytes to TLR ligands. The Slam locus contains genes that have been implicated in innate and adaptive immune responses. In this study, we demonstrate that divergent Slam locus haplotypes modulate the response of macrophages to the TLR4 ligand LPS through their control...