Michael C. Cosgrove

Learn 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)
  • 1