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Local map update for large scale SLAM

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4 Author(s)
Aulinas, J. ; Inst. of Inf. & Applic., Univ. of Girona, Girona, Spain ; Salvi, J. ; Llado, X. ; Petillot, Y.

A technique for simultaneous localisation and mapping (SLAM) for large scale scenarios is presented. This solution is based on the use of independent submaps of a limited size to map large areas. In addition, a global stochastic map, containing the links between adjacent submaps, is built. The information in both levels is corrected every time a loop is closed: local maps are updated with the information from overlapping maps, and the global stochastic map is optimised by means of constrained minimisation.

Published in:

Electronics Letters  (Volume:46 ,  Issue: 8 )