Summary
D-SLAM algorithm first described in [1.] allows SLAM to be decoupled into solving a non-linear static estimation problem for mapping and a three-dimensional estimation problem for localization. This paper presents a new version of the D-SLAM algorithm that uses an absolute map instead of a relative map as presented in [1.]. One of the significant advantages of D-SLAM algorithm is its O (N) computational cost where N is the total number of features (landmarks). The theoretical foundations of D-SLAM together with implementation issues including data association, state recovery, and computational complexity are addressed in detail. Evaluation of the D-SLAM algorithm is provided using both real experimental data and simulations.
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Wang, Z., Huang, S., Dissanayake, G. (2006). Implementation Issues and Experimental Evaluation of D-SLAM. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_14
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DOI: https://doi.org/10.1007/978-3-540-33453-8_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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