2026-04-18T04:16:03Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/23022024-05-22T09:45:55Zcom_2072_452955com_2072_2054col_2072_452957

Local map update for large scale SLAM Aulinas Masó, Josep M. Salvi, Joaquim Lladó Bardera, Xavier Petillot, Yvan R. Algorismes computacionals Imatges -- Processament Processos estocàstics Computer algorithms Image processing Stochastic processes A technique for simultaneous localisation and mapping (SLAM) for large scale scenarios is presented. This solution is based on the use of independent submaps of a limited size to map large areas. In addition, a global stochastic map, containing the links between adjacent submaps, is built. The information in both levels is corrected every time a loop is closed: local maps are updated with the information from overlapping maps, and the global stochastic map is optimised by means of constrained minimisation 2010 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Aulinas, J., Salvi, J., Llado, X., i Petillot, Y. (2010). Local map update for large scale SLAM. Electronics Letters, 46, 8, 564-566. Recuperta 17-05-2010, a: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5451008 http://hdl.handle.net/10256/2302 http://hdl.handle.net/10256/2302 eng info:eu-repo/semantics/altIdentifier/doi/10.1049/el.2010.2271 info:eu-repo/semantics/altIdentifier/issn/0013-5194 Tots els drets reservats info:eu-repo/semantics/openAccess application/pdf IEEE © Electronics Letters, 2010, vol. 46, p. 564-566 Articles publicats (D-ATC)