| Art der Veröffentlichung: |
Artikel in Konferenzband |
| Autor: |
U. Frese |
| Titel: |
Using Treemap as a Generic Least Square Backend for 6-DOF SLAM |
| Buch / Sammlungs-Titel: |
Procedings of the Spatial Cognition V Workshop Robotic 3D Environment Cognition |
| Erscheinungsjahr: |
2006 |
| Abstract / Kurzbeschreibung: |
Treemap is a generic SLAM algorithm that has been successfully used to estimate extremely large 2D maps closing a loop over a million landmarks in 442ms.We are currently working on an open-source implementation that can handle most variants of SLAM. In this paper we show initial results demonstrating 6-DOF feature based SLAM and closing a simulated loop over 106657 3D features in 209ms. |
| Internet: |
http://www.informatik.uni-bremen.de/agebv/en/TreemapAsAGenericOpenSourceBackend |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/fresescr3dec06.pdf |
| Schlagworte: |
SLAM treemap mapping localization |
| Anmerkung / Hinweis: |
(read the ICRA07 paper instead) |
| Status: |
Reviewed |
| Letzte Aktualisierung: |
28. 10. 2008 |
