On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
An Experimental System for Incremental Environment Modelling by an Autonomous Mobile Robot
The First International Symposium on Experimental Robotics I
Comparing the usefulness of video and map information in navigation tasks
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
International Journal of Robotics Research
Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
International Journal of Robotics Research
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
Human-robot interaction: a survey
Foundations and Trends in Human-Computer Interaction
How training and experience affect the benefits of autonomy in a dirty-bomb experiment
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Distributed multirobot exploration, mapping, and task allocation
Annals of Mathematics and Artificial Intelligence
Control for Localization of Targets using Range-only Sensors
International Journal of Robotics Research
AAAI'06 proceedings of the 21st national conference on Artificial intelligence - Volume 2
Improving simultaneous mapping and localization in 3D using global constraints
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
A methodology for testing unmanned vehicle behavior and autonomy
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
Finding good cycle constraints for large scale multi-robot SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy
International Journal of Robotics Research
Multi-view scans alignment for 3D spherical mosaicing in large-scale unstructured environments
Computer Vision and Image Understanding
6DOF entropy minimization SLAM for stereo-based wearable devices
Computer Vision and Image Understanding
iSAM2: Incremental smoothing and mapping using the Bayes tree
International Journal of Robotics Research
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
Graph optimization with unstructured covariance: fast, accurate, linear approximation
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
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Current mapping algorithms using Consistent Pose Estimation (CPE) algorithms can successfully map areas of 104 square meters, using thousands of poses. However, the computation to construct the map grows as O(n log n), so larger maps get increasingly difficult to build. We present an abstraction method for postponing the growth in computation. This method solves a much smaller problem in the space of the connection graph of the map.