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Publication type: Article in Proceedings
Author: U. Frese
Title: Using Treemap as a Generic Least Square Backend for 6-DOF SLAM
Book / Collection title: Procedings of the Spatial Cognition V Workshop Robotic 3D Environment Cognition
Year published: 2006
Abstract: Treemap is a generic SLAM algorithm that has been successfully used to estimate extremely large 2D maps closing a loop over a million landmarks in 442ms.We are currently working on an open-source implementation that can handle most variants of SLAM. In this paper we show initial results demonstrating 6-DOF feature based SLAM and closing a simulated loop over 106657 3D features in 209ms.
Internet: http://www.informatik.uni-bremen.de/agebv/en/TreemapAsAGenericOpenSourceBackend
PDF Version: http://www.informatik.uni-bremen.de/agebv/downloads/published/fresescr3dec06.pdf
Keywords: SLAM treemap mapping localization
Note / Comment: (read the ICRA07 paper instead)
Status: Reviewed
Last updated: 28. 10. 2008

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Last updated: February 23, 2006   impressum