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SLAM with a Heterogeneous Prior Map

Parsley, M; Julier, SJ; (2009) SLAM with a Heterogeneous Prior Map. In: Proceedings of the 2009 SEAS-DTC Conference. (pp. AA018-1 - AA018-11). Systems Engineering for Autonomous Systems (SEAS) Defence Technology Centre (DTC): Preston, UK.

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Abstract

In this paper we propose a method to apply prior geometric information to Kalman Filter-based SLAM. The prior information takes the form of a map which is used in the SLAM process, and need not have the same form as the SLAM map. We validate the method using simulations based on a large urban environment, and show that the prior map significantly improves the performance and consistency of SLAM. We show that this improvement extends to situations where 60% of the beacons are close to, but not part of a feature in the prior map.

Type:Proceedings paper
Title:SLAM with a Heterogeneous Prior Map
Publisher version:http://www.seasdtc.com/events/2009_conference/downloads/pdf/algorithms_and_architectures/C12_(AA018)_paper.pdf
Additional information:owner: simon timestamp: 2010.07.31
UCL classification:UCL > School of BEAMS > Faculty of Engineering Science > Computer Science

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