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. © Springer-Verlag Berlin Heidelberg 2005.
CITATION STYLE
Martinelli, A., Tapus, A., Arras, K. O., & Siegwart, R. (2005). Multi-resolution SLAM for real world navigation. Springer Tracts in Advanced Robotics, 15, 442–451. https://doi.org/10.1007/11008941_47
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