Sub-map dividing and re-alignment FastSLAM with scalable voxel map system

Abstract

In this paper, we propose a FastSLAM method that can generate a large-scale voxel map. FastSLAM is easily implementable since adopting random sampling to generation of maps. However, FastSLAM is unable to generate a consistent map because of huge memory usage. When the map consists of voxels. In resampling step, FastSLAM requires making many copies of a map… (More)

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