This paper is intended to pave the way for new researchers in the field of robotics and autonomous systems, particularly those who are interested in robot localization and …
Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving …
We present a novel data structure, the Bayes tree, that provides an algorithmic foundation enabling a better understanding of existing graphical model inference algorithms and their …
Robots that can move autonomously and can make intelligent decisions by perceiving their environments and surrounding objects are known as autonomous mobile robots. Such …
P Henry, M Krainin, E Herbst… - … international journal of …, 2012 - journals.sagepub.com
RGB-D cameras (such as the Microsoft Kinect) are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such …
RGB-D cameras provide both a color image and per-pixel depth estimates. The richness of their data and the recent development of low-cost sensors have combined to present an …
M Kaess, A Ranganathan… - IEEE Transactions on …, 2008 - ieeexplore.ieee.org
In this paper, we present incremental smoothing and mapping (iSAM), which is a novel approach to the simultaneous localization and mapping problem that is based on fast …
K Konolige, M Agrawal - IEEE Transactions on Robotics, 2008 - ieeexplore.ieee.org
Many successful indoor mapping techniques employ frame-to-frame matching of laser scans to produce detailed local maps as well as the closing of large loops. In this paper, we …
This chapter provides a comprehensive introduction in to the simultaneous localization and mapping problem, better known in its abbreviated form as SLAM. SLAM addresses the main …