An Odometry-Free Approach for Simultaneous Localization and Online Hybrid Map Building

An Odometry-Free Approach for Simultaneous Localization and Online Hybrid Map Building

In this article, we propose a new approach for mobile robot localization and hybrid map building simultaneously without using any odometry hardware system. The proposed method termed as Genetic Bayesian ARAM comprises twomain components: (1) steadystate genetic algorithm (SSGA) for self-localization and occupancy grid map building and (2) Bayesian Adaptive Resonance Associative Memory (ARAM) fo...

Efficient Data Association Approach to Simultaneous Localization and Map Building

A feature based approach to simultaneous localization and map building (SLAM) is to use the information obtained by sensors mounted on a vehicle to build and update a map of the environment and compute the vehicle location in that map. One of the critical problems in obtaining a robust SLAM solution is data association, i.e. relating sensor measurements to features in the map that has been buil...

Filter Design for Simultaneous Localization and Map Building (SLAM)

This paper deals with the fusion of random variables when cross covariances are unknown. This is a vital problem in nearly every real world application since cross covariances are often impossible to obtain but also cannot be ignored. We provide a rigorous derivation of the fusion equations which are also known as covariance intersection. This approach allows us to derive an iterative scheme fo...

Robot Collaboration for Simultaneous Map Building and Localization

Simultaneous Localization and Map Building Algorithm for Real-time Applications

Mobile robot navigation in unstructured environment is a challenging task due to the uncertain nature of the real world. Navigating using visual landmarks could be a mandatory skill together with the ability of building a representation of the world around the robot. This mapping aptitude should be implemented as an efficient real-time task, even if a large number of elements have to be include...