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A Rao-Blackwellized particle filter (RBPF) approach is an effective means to estimate the full SLAM posterior. To improve the memory efficiency of RBPF-SLAM, our previous work proposed a SLAM framework based on Rao-Blackwellised particle filters (RBPF) and genetic algorithms (GA) for recovering the full SLAM posterior using raw exteroceptive sensor measurements, i.e. without landmarks. The resultant...
2D laser range finders have been widely used in mobile robot navigation. However, their use is limited to simple environments containing objects of regular geometry and shapes. Stereo vision, instead, provides 3D structural data of complex objects. In this paper, measurements from a stereo vision camera system and a 2D laser range finder are fused to dynamically plan and navigate a mobile robot in...
This paper presents a genetic algorithmic filter (GAF) approach to mobile robot simultaneous localization and mapping (SLAM). A Genetic algorithmic approach is used to solve the SLAM problem by concurrently optimizing appropriate cost functions defined over two sets of chromosome populations representing the robot pose and the environmental map. As such the methodology has the potential to produce...
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