A Tutorial on Graph-Based SLAM - uni-freiburg.de
like occupancy grids, surface maps, or by raw sensor measure-ments. The choice of a particular map representation depends on the sensors used, on the characteristics of the environment, and on the estimation algorithm. Landmark maps [28], [22] are often preferred in environments where locally distinguishable
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Improved Techniques for Grid Mapping with Rao ...
www2.informatik.uni-freiburg.de1 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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