A technique for optimising the efficiency of sub-map method for large-scale simultaneous localisation and mapping (SLAM) is proposed. It optimises the benefits of the sub-map technique to improve the accuracy and consistency of an Extended Kalman Filter (EKF) based SLAM. Error models were developed and engaged to investigate some of the outstanding issues in employing sub-map technique in SLAM....

This work proposed a real-time 3D map building system based on the visual odometry information derived from a Multi-Camera hardware. The accurate odometry information and images derived from the proposed intuitive Multi-Camera hardware, so called Multi-Camera Unit (MCU), are used as an input for the 3D map building process which cooperates the FastSLAM algorithm as a map and path estimator. Exp...