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Improved Techniques for Grid Mapping with Rao ...

1. Improved Techniques for Grid Mapping with Rao-Blackwellized particle filters Giorgio Grisetti Cyrill Stachniss Wolfram Burgard . University of Freiburg, Dept. of Computer Science, Georges-Ko hler-Allee 79, D-79110 Freiburg, Germany Dipartimento Informatica e Sistemistica, Universita La Sapienza , Via Salaria 113, I-00198 Rome, Italy Eidgeno ssische Technische Hochschule Zurich (ETH), IRIS, ASL, 8092 Zurich, Switzerland Abstract Recently, Rao-Blackwellized particle filters have An adaptive resampling technique which maintains a been introduced as an effective means to solve the simultaneous reasonable variety of particles and in this way enables localization and Mapping problem.

1 Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters Giorgio Grisetti∗† Cyrill Stachniss‡∗ Wolfram Burgard∗ ∗ University of Freiburg, Dept. of Computer Science, Georges-Kohler-Allee 79, D-79110 Freiburg, Germany¨ † Dipartimento Informatica e Sistemistica, Universita “La Sapienza”, Via Salaria 113, I-00198 Rome, Italy´

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