Using the topological skeleton for scalable, global, metrical map-building
Joseph Modayil, Patrick Beeson, and Benjamin Kuipers. Using the topological skeleton for scalable, global, metrical map-building. In Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), pp. 1530–1536, Sendai, Japan, September 2004.
Abstract
Most simultaneous localization and mapping (SLAM) approaches focus on purely metrical approaches to map-building. We present a method for computing the global metrical map that builds on the structure provided by the topological map. This allows us to factor the uncertainty in the map into local metrical uncertainty (which is handled well by existing SLAM methods), global topological uncertainty (which is handled well by existing topological map-learning methods), and global metrical uncertainty (which can be handled effectively once the other types of uncertainty are factored out). We believe that this method for building the global metrical map will be scalable to very large environments.
BibTeX
@InProceedings{Modayil-iros-04,
author = {Joseph Modayil and Patrick Beeson and Benjamin
Kuipers},
title = {Using the topological skeleton for scalable, global,
metrical map-building},
booktitle = {Proceedings of the IEEE/RSJ Conference on
Intelligent Robots and Systems (IROS)},
year = 2004,
address = {Sendai, Japan},
month = {September},
pages = {1530--1536},
abstract = {Most simultaneous localization and mapping (SLAM)
approaches focus on purely metrical approaches to
map-building. We present a method for computing the
global metrical map that builds on the structure
provided by the topological map. This allows us to
factor the uncertainty in the map into local
metrical uncertainty (which is handled well by
existing SLAM methods), global topological
uncertainty (which is handled well by existing
topological map-learning methods), and global
metrical uncertainty (which can be handled
effectively once the other types of uncertainty are
factored out). We believe that this method for
building the global metrical map will be scalable to
very large environments.},
bib2html_pubtype ={Refereed Conference},
bib2html_rescat ={Simultaneous Localization and Mapping (SLAM)},
}