Michael C. Cosgrove

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One of the most difficult problems in Simultaneous Localisation and Mapping (SLAM) is that of identifying and closing cycles. While localisation methods exist that can provide local consistency in a map, residual errors can grow unbounded in global metric maps. Topological maps are favoured by some because they do not have the global consistency problems(More)
In Simultaneous Localisation and Mapping (SLAM) the correspondence problem , specifically detecting cycles, is one of the most difficult challenges for an autonomous mobile robot. In this paper we show how significant cycles in a topological map can be identified with a companion absolute global metric map. A tight coupling of the basic unit of(More)
In simultaneous localisation and mapping (SLAM) the correspondence problem, specifically detecting cycles, is one of the most difficult challenges for an autonomous mobile robot. In this paper we show how significant cycles in a topological map can be identified with a companion absolute global metric map. A tight coupling of the basic unit of(More)
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