A general consistent decentralized Simultaneous Localization And Mapping solution

A biologically inspired solution to simultaneous localization and consistent mapping in dynamic environments

Simultaneous localization and consistent mapping in dynamic environments is a fundamental and unsolved problem in the mobile robotics community. Most of the algorithms for this problem heavily rely on discriminating dynamic objects from static objects. Because these recursive filters based discrimination algorithms always have lag before the model selection parameters converge to the versa. Mis...

D-SLAM: A Decoupled Solution to Simultaneous Localization and Mapping

The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated processes: D-SLAM (decoupled SLAM). It is shown that SLAM with a range and bearing sensor in an environment populated with point features can be decoupled into solving a nonlin...

Simultaneous Localization and Mapping

Simultaneous Localization and Mapping

The last few years have seen the implementation of autonomous systems in industrial applications that operate in a reliable and consistent manner in areas such as stevedoring, mining, agriculture and a variety of indoor applications. To solve the localisation problem, these systems make use of either absolute information such as GPS, beacons at known positions or available maps of the environme...

Simultaneous Localization and Mapping

In the event of an emergency due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground or area can be entered safely by human emergency workers. The objective of the VIEWFINDER research project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors ...