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Journal of Central South University of Technology

, Volume 13, Issue 6, pp 713–716 | Cite as

Approach of simultaneous localization and mapping based on local maps for robot

  • Chen Bai-fan  (陈白帆)Email author
  • Cai Zi-xing  (蔡自兴)
  • Hu De-wen  (胡德文)
Article

Abstract

An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the observations of the robot and landmarks were fused into the global frame of reference. Because of the independence of the local map, the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly. At the same time, it reduces the computational complexity. This method is proven correct and feasible in simulation experiments.

Key words

simultaneous localization and mapping extended Kalman filter local map 

CLC number

TP242 

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Copyright information

© Published by: Central South University Press, Sole distributor outside Mainland China: Springer 2006

Authors and Affiliations

  • Chen Bai-fan  (陈白帆)
    • 1
    Email author
  • Cai Zi-xing  (蔡自兴)
    • 1
  • Hu De-wen  (胡德文)
    • 2
  1. 1.School of Information Science and EngineeringCentral South UniversityChangshaChina
  2. 2.College of Mechatronics and AutomationNational University of Defense TechnologyChangshaChina

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