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20-Oct-2017 16:19

Many SLAM systems can be viewed as combinations of choices from each of these aspects.

Topological maps are a method of environment representation which capture the connectivity (i.e., topology) of the environment rather than creating a geometrically accurate map.

At one extreme, laser scans or visual features provide details of a great many points within an area, sometimes rendering SLAM inference unnecessary because shapes in these point clouds can be easily and unambiguously aligned at each step via image registration.

At the opposite extreme, tactile sensors are extremely sparse as they contain only information about points very close to the agent, so they require strong prior models to compensate in purely tactile SLAM.

SLAM algorithms are tailored to the available resources, hence not aimed at perfection, but at operational compliance.

Published approaches are employed in self-driving cars, unmanned aerial vehicles, autonomous underwater vehicles, planetary rovers, newly emerging domestic robots and even inside the human body.

As a part of the model, the kinematics of the robot is included, to improve estimates of sensing under conditions of inherent and ambient noise.Like many inference problems, the solutions to inferring the two variables together can be found, to a local optimum solution, by alternating updates of the two beliefs in a form of EM algorithm.



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