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Multisensor fusion for simultaneous localization and map building

โœ Scribed by Castellanos, J.A.; Neira, J.; Tardos, J.D.

Book ID
121275874
Publisher
IEEE
Year
2001
Tongue
English
Weight
286 KB
Volume
17
Category
Article
ISSN
1042-296X

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In this paper the metric and topological paradigms are integrated in a hybrid system for both localization and map building. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency and permits both precision and robu