Hybrid simultaneous localization and map
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Nicola Tomatis; Illah Nourbakhsh; Roland Siegwart
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Article
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2003
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Elsevier Science
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English
⚖ 284 KB
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