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The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter-based algorithms, for example, require time quadratic in the(More)
Proceedings of IJCAI 2003 In [15], Montemerlo et al. proposed an algorithm called FastSLAM as an efficient and robust solution to the simultaneous localization and mapping problem. This paper describes a modified version of FastSLAM which overcomes important deficiencies of the original algorithm. We prove convergence of this new algorithm for linear SLAM(More)
One means of analyzing program performance is by deriving closed-form expressions for their execution behavior. This paper discusses the mechanization of such analysis, and describes a system, Metric, which is able to analyze simple Lisp programs and produce, for example, closed-form expressions for their running time expressed in terms of size of input.(More)
This article provides a comprehensive description of FastSLAM, a new family of algorithms for the simultaneous localization and mapping problem, which specifically address hard data association problems. The algorithm uses a particle filter for sampling robot paths, and extended Kalman filters for representing maps acquired by the vehicle. This article(More)
We describe a technique for reconstructing probable occluded surfaces from 3D range images. The technique exploits the fact that many objects possess shape symmetries that can be recognized even from partial 3D views. Our approach identifies probable symmetries and uses them to attend the partial 3D shape model into the occluded space. To accommodate(More)
Current methods for mechanical program verification require a complete predicate specification on each loop. Because this is tedious and error prone, producing a program with complete, correct predicates is reasonably difficult and would be facilitated by machine assistance. This paper discusses techniques for mechanically synthesizing loop predicates. Two(More)
Many control and access environment structures require that storage for a procedure activation exist at times when control is not nested within the procedure activated. This is straightforward to implement by dynamic storage allocation with linked blocks for each activation, but rather expensive in both time and space. This paper presents an implementation(More)
We consider the problem of computing the smallest contact forces, with point-contact friction model, that can hold an object in equilibrium against a known external applied force and torque. It is known that the force optimization problem (FOP) can be formulated as a semidefinite programming problem (SDP) or a second-order cone problem (SOCP), and thus, can(More)