Navigation in hybrid metric-topological maps

ICRA, pp. 3041-3047, 2011.

Cited by: 117|Bibtex|Views68|DOI:https://doi.org/10.1109/ICRA.2011.5980074
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Other Links: dblp.uni-trier.de|academic.microsoft.com

Abstract:

We present an approach for navigation in hybrid maps consisting of a topological graph overlaid with local occupancy grids. The topological graph is built on top of a graph SLAM system, which can be efficiently optimized even for very large environments. The novel feature of our system is that it navigates locally using local metric maps,...More

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