3 accepted papers
One of the valuable directions in feature based SLAM is to parameterize and estimate features accurately. In the real world, closed shape features are especially common. It is necessary to study the feature based SLAM problem on closed shape features. The main contribution of this letter is a 2D las
The main contribution of this letter is the problem formulation and algorithm framework for 2D laser SLAM with general features represented by implicit functions. Since 2D laser data reflect the distances from the robot to the boundary of objects in the environment, it is natural to use the boundary
In this letter, we show that for a minimal 2D pose-graph SLAM problem, even in the ideal case of perfect measurements and spherical covariance, using geodesic distance (in 2D, the “wrap function”) to compare angles results in multiple suboptimal local minima. We numerically estimate regions of attra