Exploiting building information from publicly available maps in graph-based SLAM

@article{Vysotska2016ExploitingBI,
  title={Exploiting building information from publicly available maps in graph-based SLAM},
  author={Olga Vysotska and Cyrill Stachniss},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={4511-4516}
}
Maps are an important component of most robotic navigation systems and building maps under uncertainty is often referred to as simultaneous localization and mapping or SLAM. Most SLAM approaches start from scratch and build a map only based on their own observations and odometry information. In this paper, we address the problem of how additional information can be exploited, for example from OpenStreetMap. We extend the standard graph-based SLAM formulation by relating the nodes of the pose… CONTINUE READING

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