Parsley, M and 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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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.
|Title:||SLAM with a Heterogeneous Prior Map|
|Additional information:||owner: simon timestamp: 2010.07.31|
|UCL classification:||UCL > School of BEAMS > Faculty of Engineering Science > Computer Science|
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