Active SLAM in structured environments

Abstract

This paper considers the trajectory planning problem for line-feature based SLAM in structured indoor environments. The robot poses and line features are estimated using smooth and mapping (SAM) which is found to provide more consistent estimates than the extended Kalman filter (EKF) The objective of trajectory planning is to minimise the uncertainty of the… (More)
DOI: 10.1109/ROBOT.2008.4543484

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Citation Velocity: 8

Averaging 8 citations per year over the last 3 years.

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