期刊
ROBOTICA
卷 32, 期 5, 页码 803-821出版社
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574713001070
关键词
Mobile robots; SLAM; Topological modeling of robots; Feature detection; Robot localization
类别
One of the main challenges in robotics is navigating autonomously through large, unknown, and unstructured environments. Simultaneous localization and mapping (SLAM) is currently regarded as a viable solution for this problem. As the traditional metric approach to SLAM is experiencing computational difficulties when exploring large areas, increasing attention is being paid to topological SLAM, which is bound to provide sufficiently accurate location estimates, while being significantly less computationally demanding. This paper intends to provide an introductory overview of the most prominent techniques that have been applied to topological SLAM in terms of feature detection, map matching, and map fusion.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据