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Multi-resolution SLAM for Real World Navigation

  • Agostino Martinelli
  • Adriana Tapus
  • Kai Olivier Arras
  • Roland Siegwart
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 15)

Abstract

In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the problem of the drift in odometry. For the topological framework the fingerprint sequence approach is used. During the construction of the topological map, a communication between the two paradigms is established. The fingerprint used for topological navigation enables also the re-initialization of the metric localization. The experimentation section will validate the multi-resolution-representation maps approach and presents different steps of the method.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Agostino Martinelli
    • 1
  • Adriana Tapus
    • 1
  • Kai Olivier Arras
    • 1
  • Roland Siegwart
    • 1
  1. 1.Autonomous Systems LabSwiss Federal Institute of Technology Lausanne (EPFL)LausanneSwitzerland

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