• A Rao-Blackwellized Particle Filter for Topological Mapping 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-05)
      We present a particle filtering algorithm to construct topological maps of an uninstrument environment. The algorithm presented here constructs the posterior on the space of all possible topologies given measurements, ...