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    Applying domain knowledge to slam using virtual measurements

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    05509497.pdf (613.9Kb)
    Date
    2010-05
    Author
    Trevor, Alexander J. B.
    Rogers, John G.
    Nieto-Granda, Carlos
    Christensen, Henrik I.
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    Abstract
    Simultaneous Localization and Mapping (SLAM) aims to estimate the maximum likelihood map and robot pose based on a robot’s control and sensor measurements. In structured environments, such as human environments, we might have additional domain knowledge that could be applied to produce higher quality mapping results.We present a method for using virtual measurements, which are measurements between two features in our map. To demonstrate this, we present a system that uses such virtual measurements to relate visually detected points to walls detected with a laser scanner.
    URI
    http://hdl.handle.net/1853/37374
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    • Cognitive Robotics [83]
    • Cognitive Robotics Publications [82]

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