Sciweavers

Share
SPATIALCOGNITION
2004
Springer

Treemap: An O(log n) Algorithm for Simultaneous Localization and Mapping

10 years 3 months ago
Treemap: An O(log n) Algorithm for Simultaneous Localization and Mapping
This paper presents a very efficient SLAM algorithm that works by hierarchically dividing the map into local regions and subregions. At each level of the hierarchy each region stores a matrix representing some of the landmarks contained in this region. For keeping the matrices small only those landmarks are represented being observable from outside the region. A measurement is integrated into a local subregion using O(k2 ) computation time for k landmarks in a subregion. When the robot moves to a different subregion a global update is necessary requiring only O(k3 log n) computation time for n overall landmarks. The algorithm is evaluated for map quality, storage space and computation time using simulated and real experiments in an office environment.
Udo Frese
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where SPATIALCOGNITION
Authors Udo Frese
Comments (0)
books