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We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a probabilistically grounded multi-hypothesis technique that relies on the incremental construction of a map/state hypothesis tree. Loop closing is introduced automatically within the tree expansion, and likely hypotheses...
Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM (simultaneous localisation and mapping) which does not require motion or odometry information but only a sequence of noisy measurements from visited places. We propose a particle filtering technique for topological SLAM which relies on a method for disambiguating places...
This paper describes the application of a RaoBlackwellized Particle Filter to the problem of simultaneous localization and mapping onboard a hovering autonomous underwater vehicle. This vehicle, called DEPTHX, equipped with a large array of pencil-beam sonars for mapping, and autonomously explore a system of flooded tunnels associated with the Zacaton sinkhole in Tamaulipas, Mexico. Due to the three-dimensional...
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