State of the Art
Categorization of Robotic Mapping Algorithms
One way to categorize mapping algorithms is by the map type. The map can be topological or metrical. Metrical maps represent quantitive distances of the environment. These maps are either 2D, usually in an upright projection, or 3D, i.e., a volumetric environment map. Furthermore, SLAM approaches can be classified by the number of DoF of the robot pose. A 3D pose estimate contains the (x,y)-coordinate and a rotation θ, whereas a 6D pose estimate considers all DoF a rigid mobile robot can have, i.e., the (x,y,z)-coordinate and the roll, yaw and pitch angles.
KeywordsFigure Courtesy Robot Control Architecture Quantitative Distance Multi Hypothesis Tracking RESOLV Project
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