Hierarchical Simultaneous Localization and Mapping

Brad Lisien, Deryck Morales, David Silver, George Kantor, Ioannis Rekleitis, Howie Choset
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2003. [79 citations]


Abstract: This paper presents a novel method of combining topological and feature-based mapping strategies to create a hierarchical approach to simultaneous localization and mapping (SLAM). More than simply running both processes in parallel, we use the topological mapping procedure to organize local feature-based methods. The result is an autonomous exploration and mapping strategy that scales well to large environments and higher dimensions while confronting the issue of obstacle avoidance. We have obtained successful results of our approach in an area spanning 5000 square meters.



  author       = {Brad Lisien and Deryck Morales and David Silver and
		 George Kantor and Ioannis Rekleitis and Howie Choset},
  title        = {Hierarchical Simultaneous Localization and Mapping},
  booktitle    = {IEEE/RSJ International Conference on Intelligent Robots
		 and Systems (IROS)},
  pages        = {448--453},
  year	       = {2003},
  address      = {Las Vegas, NV, USA},
  month        = {Oct.},
  organization = {IEEE/RSJ}

Rekleitis's home page
Rekleitis's publication list

Thu Jan 23 06:21:02 EST 2020