Multi-resolution SLAM for Real World Navigation

In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the problem of the drift in odometry. For the topological framework the fingerprint sequence approach is used. During the construction of the topological map, a communication between the two paradigms is established. The fingerprint used for topological navigation enables also the re-initialization of the metric localization. The experimentation section will validate the multi-resolution-representation maps approach and presents different steps of the method.


Presented at:
None, Siena, Italy, October 2003
Year:
2003
Keywords:
Laboratories:




 Record created 2006-12-07, last modified 2018-01-27

External link:
Download fulltext
n/a
Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)