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We present a hierarchical SLAM approach which uses spectral registration of local submaps to close loops and to perform global localization after a restart. Using the Fourier-Mellin Transform (FMT), we robustly register occupancy grid representations of local submaps and present methods which improve matching performance. We further show how good match(More)
We present an efficient asymptotically-optimal randomized motion planning algorithm solving single-query path planning problems using a bidirectional search. The algorithm combines the benefits from the widely known algorithms RRT-Connect and RRT* and scores better than both by finding a solution faster than RRT*, and -unlike RRT-Connect - converging(More)
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