David Kroetsch Master of Applied Science University of Waterloo September 2007 Multi-frame Measurement Fusion for State Estimation Simultaneous Localization and Mapping (SLAM) is a technique used by robots and autonomous vehicles to build up a map while operating in an unknown environment, while at the same time keeping track of a current position estimate. This process is not as straightforwar...

In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...

An overview of underwater SLAM implementations as well as submapping SLAM approaches is given in this paper. Besides, the implementation of the so called selective submap joining SLAM on the SPARUS AUV is presented. SPARUS carries a down-looking optical camera. The information gather by this camera is run through SLAM, together with on-board navigation sensors, producing a precise localization ...

The performances of an EKF-based SLAM approach are experimentally discussed in the case of a mini-robot equipped with low-cost IR sensors only, showing that despite of the sparseness and noisiness of the sensors, SLAM experiments using classical SLAM methods can be performed even on a Khepera robot in a real arena, whose dimensions may be significantly larger than the robot size. The main chara...

One of the main challenges in robotics is navigating autonomously through large, unknown, and unstructured environments. Simultaneous localization and mapping (SLAM) is currently regarded as a viable solution for this problem. As the traditional metric approach to SLAM is experiencing computational difficulties when exploring large areas, increasing attention is being paid to topological SLAM, ...

Measles virus (MV) propagates mainly in lymphoid organs throughout the body and produces syncytia by using signaling lymphocyte activation molecule (SLAM) as a receptor. MV also spreads in SLAM-negative epithelial tissues by unknown mechanisms. Ubiquitously expressed CD46 functions as another receptor for vaccine strains of MV but not for wild-type strains. We here show that MV grows and produc...

Simultaneous localization and mapping (SLAM) is the process by which a mobile robot can build a map of the environment and, at the same time, use this map to compute its location. The past decade has seen rapid and exciting progress in solving the SLAM problem together with many compelling implementations of SLAM methods. The great majority of work has focused on improving computational efficie...

Signaling lymphocyte activation molecule (SLAM), a glycoprotein expressed on activated lymphocytes and antigen-presenting cells, has been shown to be a coregulator of antigen-driven T cell responses and is one of the two receptors for measles virus. Here we show that T cell receptor-induced interleukin (IL)-4 secretion by SLAM(-/-) CD4(+) cells is down-regulated, whereas interferon gamma produc...

This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were cond...

We have previously shown that canine signaling lymphocyte activation molecule (SLAM; also known as CD150) acts as a cellular receptor for canine distemper virus (CDV). In this study, we established Vero cells stably expressing canine SLAM (Vero.DogSLAMtag cells). Viruses were isolated in Vero.DogSLAMtag cells one day after inoculation with spleen samples from five out of seven dogs with distemp...