The hybrid metric map: a solution for precision farming

Abstract

This work presents a specific application of a novel map representation, the Hybrid Metric Map. This representation allows a consistent autonomous localization and simultaneously the synthesis of a detailed description of the environment where the robot or vehicle operates. There are many applications where an autonomous vehicle senses environment properties that are not necessarily used for the localization process. Precision agriculture is a special case of this. The proposed algorithm is able to fuse a large amount of information for the environment description and simultaneously estimate the vehicle position. Keywords— SLAM, Autonomous Navigation, Precision Agriculture