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Simultaneous Localization and Map Building: A Global Topological Model with Local Metric Maps
(2001)Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and SystemsAn approach combining the metric and topological paradigm for simultaneous localization and map building is presented The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global metric consistency and permits both precision and robustness. The method uses a 360 degree laser scanner in order to extract corners and openings for the topological ...Conference Paper