Abstract
In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the problem of the drift in odometry. For the topological framework the fingerprint sequence approach is used. During the construction of the topological map, a communication between the two paradigms is established. The fingerprint used for topological navigation enables also the re-initialization of the metric localization. The experimentation section will validate the multi-resolution-representation maps approach and presents different steps of the method.
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© 2005 Springer-Verlag Berlin Heidelberg
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Martinelli, A., Tapus, A., Arras, K.O., Siegwart, R. (2005). Multi-resolution SLAM for Real World Navigation. In: Dario, P., Chatila, R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11008941_47
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DOI: https://doi.org/10.1007/11008941_47
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23214-8
Online ISBN: 978-3-540-31508-7
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