= Realworld Experiment 2: Large Map =

In a larger experiment nearly our whole institute building is mapped
(80*60m, 560 landmarks). The experiment is challenging since the map contains
three large loops.

[[attachment:mobilerobot_mappingdlrbuilding_240803_small.mpg| {{attachment:mobilerobot_mappingdlrbuilding_240803.jpg}} ]]

The resulting map.

{{attachment:mobilerobot_mappingdlrbuilding_map_240803.jpg}}

Internal tree representation of the map.

{{attachment:mobilerobot_mappingdlrbuilding_tree_240803.jpg}}

True map.

{{attachment:mobilerobot_mappingdlrbuilding_truemap_240803.jpg}}