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Long-term 3D map maintenance in dynamic environments
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)New applications of mobile robotics in dynamic urban areas require more than the single-session geometric maps that have dominated simultaneous localization and mapping (SLAM) research to date; maps must be updated as the environment changes and include a semantic layer (such as road network information) to aid motion planning in dynamic environments. We present an algorithm for long-term localization and mapping in real time using a ...Conference Paper