We present a monocular SLAM system that avoids inconsistency by coalescing observations into independent local coordinate frames, building a graph of the local frames, and optimiz...
— We describe two new sampling strategies for Rao-Blackwellized particle filtering SLAM. The strategies, called fixed-lag roughening and the block proposal distribution, both e...
— This paper presents the iRobot corporation’s Roomba vacuum as a low-cost resource for robotics research and education. Sensor and actuation models for unmodified Roombas are...
The solution to the problem of mapping an environment and at the same time using this map to localize (the simultaneous localization and mapping, SLAM, problem) is a key prerequis...
: The performance of single-camera SLAM is improved when wide-angle optics provide a field of view greater than the 40 to 50 degrees lenses normally used in computer vision. The is...