Using Treemap as a Generic Least Square Backend for 6-DOF SLAM
| Type of publication: | Inproceedings |
| Citation: | fre06e |
| Booktitle: | Procedings of the Spatial Cognition V Workshop Robotic 3D Environment Cognition |
| Year: | 2006 |
| Note: | (read the ICRA07 paper instead) |
| URL: | http://www.informatik.uni-brem... |
| Abstract: | 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. |
| Userfields: | bdsk-url-1={http://www.informatik.uni-bremen.de/agebv/en/TreemapAsAGenericOpenSourceBackend}, pdfurl={http://www.informatik.uni-bremen.de/agebv/downloads/published/fresescr3dec06.pdf}, project={A7-FreePerspective}, status={Reviewed}, |
| Keywords: | SLAM treemap mapping localization |
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