|
A
Hierarchical Object Based Representation for
Simultaneous Localization and Mapping
C.-C. Wang and C.
Thorpe
| Abstract |
Accomplishing
simultaneous localization and mapping (SLAM) in very large city
environments is a great challenge because of theoretical and practical
issues on computational complexity, dynamic environment, representation
and data association. In this paper, we describe practical algorithms
for dealing with the representation issues. Feature-based, grid-based
and direct methods are integrated into the framework of the
hierarchical object based representation. The sampling and correlation
based range image matching algorithm is developed to tackle the problem
arising from uncertain, sparse and featureless data in outdoor
environments. Experimental results of a 800 meter x 600 meter
neighborhood demonstrate the feasibility of city-sized SLAM.
|
| Downlod |
|
|
The full paper is available in PDF.
|
| Bibtex |
@inproceedings{Wang04b,
author = {Chieh-Chih Wang and Charles Thorpe},
title = {A
Hierarchical Object based Representation for Simultaneous
Localization and
Mapping},
booktitle = {Proceedings of the IEEE/RSJ
International
Conference on Intelligent Robots and Systems (IROS)},
address = {Sendai, Japan},
month = {September},
year = {2004},
}
|
|
|
|
Copyright ©
Chieh-Chih
(Bob) Wang 2004. All right reserved.
Last Updated: Sep. 20, 2004.
|
|
