A relative map approach to SLAM based on shift and rotation invariants

@article{Martinelli2007ARM,
  title={A relative map approach to SLAM based on shift and rotation invariants},
  author={Agostino Martinelli and Viet Nguyen and Nicola Tomatis and Roland Siegwart},
  journal={Robotics and Autonomous Systems},
  year={2007},
  volume={55},
  pages={50-61}
}
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework based on the concept of the relative map. The idea consists in introducing a map state, which only contains relative quantities among the features invariant under shift and rotation. The estimation of this relative state is carried out through an Extended Kalman Filter. The shift and rotation invariance of the state allows us to significantly reduce the computational burden… CONTINUE READING

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