Simultaneous Localization and Mapping Based on Multi-Rate Fusion of Laser and Encoders Measurements
نویسندگان
چکیده
Abstract: The SLAM problem in static environments with EKF is adapted for multi-rate sensor fusion of encoders and laser rangers. In addition, the formulation is general and can be adapted for any multi-rate sensor fusion application. The proposed algorithm, based on well-known techniques for feature extraction, data association and map building, is validated with some experimental results. This algorithm should been seen as a part of a complete autonomous robot navigation algorithm, also described in the paper.
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