Transcription of A Tutorial on Graph-Based SLAM - uni-freiburg.de
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A Tutorial on Graph-Based SLAM - uni-freiburg.de
1A Tutorial on Graph-Based SLAMG iorgio GrisettiRainer K ummerleCyrill StachnissWolfram BurgardDepartment of Computer Science, University of Freiburg, 79110 Freiburg, GermanyAbstract Being able to build a map of the environment andto simultaneously localize within this map is an essential skill formobile robots navigating in unknown environments in absenceof external referencing systems such as GPS. This so-calledsimultaneous localization and mapping ( slam ) problem hasbeen one of the most popular research topics in mobile roboticsfor the last two decades and efficient approaches for solving thistask have been proposed. One intuitive way of formulating SLAMis to use a graph whose nodes correspond to the poses of the robotat different points in time and whose edges represent constraintsbetween the poses.
by mobile robots including transportation, search and rescue, or automated vacuum cleaning robots need a map of the environment. The availability of an accurate map allows for the design of systems that can operate in complex environments only based on their on-board sensors and without relying on external reference system like, e.g., GPS. The ...
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