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SLAM with a Heterogeneous Prior Map

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

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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/down...
Additional information: owner: simon timestamp: 2010.07.31
UCL classification: UCL > School of BEAMS
UCL > School of BEAMS > Faculty of Engineering Science
URI: http://discovery.ucl.ac.uk/id/eprint/135510
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