Treemap: An O(log n) algorithm for indoor simultaneous localization and mapping

@article{Frese2006TreemapAO,
  title={Treemap: An O(log n) algorithm for indoor simultaneous localization and mapping},
  author={Udo Frese},
  journal={Auton. Robots},
  year={2006},
  volume={21},
  pages={103-122}
}
This article presents a very efficient SLAM algorithm that works by hierarchically dividing a map into local regions and subregions. At each level of the hierarchy each region stores a matrix representing some of the landmarks contained in this region. To keep those matrices small, only those landmarks are represented that are observable from outside the region. A measurement is integrated into a local subregion using O(k2) computation time for k landmarks in a subregion. When the robot moves… CONTINUE READING
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References

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Treemap: An O(log n) Algorithm for Indoor Simultaneous Localization and Mapping

  • U. Frese
  • Technical Report 006-03/2006,
  • 2006
3 Excerpts

A Multigrid Algorithm for Simultaneous Localization and Mapping

  • U. Frese, P. Larsson, T. Duckett
  • IEEE Transactions on Robotics
  • 2004
1 Excerpt

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