This paper presents HybridSLAM: an approach to SLAM which combines the strengths and avoids the weaknesses of two popular mapping strategies: FastSLAM and EKF-SLAM. FastSLAM is used as a front-end, producing local maps which are periodically fused into an EKF-SLAM back-end. The use of FastSLAM locally avoids linearisation of the vehicle model and provides a high level of robustness to clutter a...

Many monocular visual SLAM algorithms are derived from incremental structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM method which integrates recent advances made in global SfM. In particular, we present two main contributions to visual SLAM. First, we solve the visual odometry problem by a novel rank1 matrix factorization technique which is more robust to the errors...

We present an improvement to the DP-SLAM algorithm for simultaneous localization and mapping (SLAM) that maintains multiple hypotheses about densely populated maps (one full map per particle in a particle filter) in time that is linear in all significant algorithm parameters and takes constant (amortized) time per iteration. This means that the asymptotic complexity of the algorithm is no great...

Simultaneous localization and mapping (SLAM) is an important research area in robotics. Lately, systems that use a single bearing-only sensors have received significant attention and the use of visual sensors have been strongly advocated. In this paper, we present a framework for 3D bearing only SLAM using a single camera. We concentrate on image feature selection in order to achieve precise lo...

This article presents a comprehensive review of the Active Simultaneous Localization and Mapping (A-SLAM) research conducted over past decade. It explores formulation, applications, methodologies employed in A-SLAM, particularly trajectory generation control-action selection, drawing on concepts from Information Theory (IT) Optimal Experimental Design (TOED). includes both qualitative quantitat...

The regulatory function of invariant NKT (iNKT) cells for tolerance induction and prevention of autoimmunity is linked to a specific cytokine profile that comprises the secretion of type 2 cytokines like IL-4 and IL-10 (NKT2 cytokine profile). The mechanism responsible for iNKT cell differentiation toward a type 2 phenotype is unknown. Herein we show that costimulatory signals provided by the s...

BACKGROUND The Src homology 2 (SH2) domains of cytoplasmic signaling proteins generally bind phosphotyrosine (pTyr) sites in the context of carboxy-terminal residues. SAP (also known as SH2D1A or DSHP), the product of the gene that is mutated in human X-linked lymphoproliferative (XLP) disease, comprises almost exclusively a single SH2 domain, which may modulate T-cell signaling by engaging T-c...

Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping unknown environment defined by multiple landmark positions localization pose (i.e., attitude position) robot in three-dimensional (3D) space. The true SLAM problem modeled on Lie group $\mathbb{SLAM}_{n}\left(3\right)$, its dynamics rely angular translational velocities. This paper p...

Simultaneous Localisation and Mapping (SLAM) is a method of environment mapping in mobile robotics. One of the most popular classes of this algorithm is the ExtendedKalman Filter (EKF) SLAM, which maps the environment by estimating similarities between currently registered scene objects and newly perceived ones. More advanced versions of this algorithm are necessary, e.g. for multiple robots or...

This paper aims at a discussion of the structure of the SLAM problem. The analysis is not strictly formal but based both on thought experiments and mathematical derivation. The first part highlights the structure of uncertainty of an estimated map with the key result being “Certainty of Relations despite Uncertainty of Positions”. A formal proof for approximate sparsity of so-called information...