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Just wondering, if there exists any algorithm that builds a map in a topological way (based on landmarks) instead of in a metric way (x,y). Since the gyro/odom has error anyway, it is not necessary to build a metric map. Even humans will not do this. We recognize landmarks to estimate our location, right? Is anyone aware of this kind of research?
There are a number of topological SLAM implementations in the research community. http://openslam.org/ is a good source for finding these.
Unfortunately, as far as I am aware, none of these have ROS bindings/wrappers available.
Dr Paul Newman and Mark Cummins released an open source version of Fast Appearance Based Mapping (FABMAP) toolset that`s a topological SLAM algorithm
You should have a look at this reference too:
R. Kuemmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard. Large Scale Graph-based SLAM using Aerial Images as Prior Information
I hope I`ve helped you
Asked: 2013-04-08 19:32:34 -0500
Seen: 523 times
Last updated: Apr 18 '13
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