Acquiring models of the environment belongs to the fundamental tasks of mobile robots. In the past, several researchers have focused on the problem of simultaneous localization an...
This paper presents Scan-SLAM, a new generalisation of simultaneous localisation and mapping (SLAM). SLAM implementations based on extended Kalman filter (EKF) data fusion have t...
We present an image-based Simultaneous Localization and Mapping (SLAM) framework with online, appearanceonly loop closing. We adopt a layered approach with metric maps over small ...
This paper addresses the problem of simultaneous localization and mapping (SLAM) using vision-based sensing. We present and analyse an implementation of a RaoBlackwellised particl...
Robert Sim, Pantelis Elinas, Matt Griffin, Alex Sh...
We present a novel method for information-theoretic exploration, leveraging recent work on mapping and localization. We describe exploration as the constrained optimization proble...