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Publication type: Article in Proceedings
Author: U. Frese
Title: Efficient 6-DOF SLAM with Treemap as a Generic Backend
Book / Collection title: Proceedings of the Internation Conference on Robotics and Automation, Rome
Year published: 2007
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 discuss the generic part of the algorithm constituting the treemap backend and the variant specific parts acting as a driver. We present their interplay from a software-engineering point of view and show results for the case of 6-DOF feature based SLAM, 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/freseicra07.pdf
Keywords: SLAM 6-DOF Treemap
Status: Reviewed
Last updated: 28. 10. 2008

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