State of the Art

  • Andreas Nüchter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 52)

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.


Figure Courtesy Robot Control Architecture Quantitative Distance Multi Hypothesis Tracking RESOLV Project 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer-Verlag Berlin Heidelberg 2009

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  • Andreas Nüchter

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