Including probabilistic target detection attributes into map representations

Authors:
John Mullane;Ebi Jose;Martin D. Adams;Wijerupage Sardha Wijesoma
Affiliations:
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore
Venue:
Robotics and Autonomous Systems
Year:
2007

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Abstract

One of the greatest obstacles to the use of Simultaneous Localization And Mapping (SLAM) in a real-world environment is the need to maintain the full correlation structure between the vehicle and all of the landmark estimates. This structure is computationally ...