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Improving the Consistency of Relative Map
(2006)2006 IEEE/RSJ International Conference on Intelligent Robots and SystemsIn this paper, the independence relative map algorithm is presented. The algorithm aims to achieve the independence of relative map states. We show that using dependent relative quantities from the same observation creates a bias to the state covariance matrix, leading to an inaccurate and inconsistent relative map. Having independent map states improves the map consistency. Two case studies are presented in which we apply the proposed ...Conference Paper -
Information Relative Map Going toward Constant Time SLAM
(2008)Springer Tracts in Advanced Robotics ~ European Robotics Symposium 2008Conference Paper -
A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics
(2005)2005 IEEE/RSJ International Conference on Intelligent Robots and SystemsConference Paper -
A lightweight SLAM algorithm using Orthogonal planes for indoor mobile robotics
(2007)2007 IEEE/RSJ International Conference on Intelligent Robots and SystemsSimple, fast and lightweight SLAM algorithms are necessary in many embedded robotic systems which soon will be used in houses and offices in order to do various service tasks. In this paper the Orthogonal SLAM algorithm is presented as an answer to this need. In continuation of our previous work, the algorithm is extended to generate 3D maps and empirically validated by mapping the long corridor of our lab with the accuracy comparable ...Conference Paper