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Outdoor exploration and SLAM using a compressed filter
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (CAS)ORCID iD: 0000-0002-7796-1438
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2003 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, 2003, p. 419-427Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we describe the use of automatic explorationfor autonomous mapping of outdoor scenes. We describe areal-time SLAM implementation along with an autonomous explorationalgorithm. We have implemented SLAM with a compressedextended Kalman filter (CEKF) on an outdoor robot. Our implementationuses walls of buildings as features. The state predictions aremade by using a combination of odometry and inertial data. The systemwas tested on a 200 x 200 m site with 18 buildings on variableterrain. The paper helps explain some of the implementation detailsof the compressed filter such as, how to organize the map as well asmore general issues like, how to include the effects of pitch and rolland efficient feature detection.

Place, publisher, year, edition, pages
2003. p. 419-427
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729 ; 1
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-38223DOI: 10.1109/ROBOT.2003.1241631ISI: 000187419900068ISBN: 0-7803-7736-2 (print)OAI: oai:DiVA.org:kth-38223DiVA, id: diva2:436283
Conference
20th IEEE International Conference on Robotics and Automation (ICRA) Location: TAIPEI, TAIWAN Date: SEP 14-19, 2003
Available from: 2011-08-23 Created: 2011-08-23 Last updated: 2012-02-09Bibliographically approved

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Folkesson, John

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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