Multi-resolution SLAM for Real World Navigation

Abstract : 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.
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Agostino Martinelli, Adriana Tapus, Kai Arras, Roland Siegwart. Multi-resolution SLAM for Real World Navigation. Paolo Dario ; Raja Chatila. Robotics Research. The Eleventh International Symposium, Springer, pp.442-452, 2005, Springer Tracts in Advanced Robotics, 978-3-540-23214-8. 〈10.1007/11008941_47〉. 〈hal-01015921〉

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