Simultaneous localization and map building in large-scale cyclic environments using the Atlas framework
In this paper we describe Atlas, a hybrid metrical/topological approach to simultaneous localization and mapping (SLAM) that achieves efficient mapping of large-scale environments. The representation is a graph of coordinate frames, with each vertex in the graph representing a local frame and each e...
| Main Authors: | , , , |
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| Format: | Journal article |
| Language: | English |
| Published: |
2004
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