This paper presents a very efficient SLAM algorithm that works by hierarchically dividing the map into local regions and subregions. At each level of the hierarchy each region stor...
In this paper we present a dynamic data structure, useful for robot navigation in an unknown, simplyconnected planar environment. The guiding philosophy in this work is to avoid t...
One of the most challenging aspects of concurrent mapping and localization (CML) is the problem of data association. Because of uncertainty in the origins of sensor measurements, i...
John J. Leonard, Paul M. Newman, Richard J. Rikosk...
: A framework for underwater navigation by combining raw information from different sensors into a single scene description is presented. It is shown that features extracted from s...
Somajyoti Majumder, Julio Rosenblatt, Steve Schedi...
In this paper we tackle the problem of providing a mobile robot with the ability to build a map of its environment using data gathered during navigation. The data correspond to the...