Map Building and SLAM Algorithms

摘要

The concept of autonomy of mobile robots encompasses many areas of knowledge, methods, and ultimately algorithms designed for trajectory control, obstacle avoidance, localization, map building, and so forth. In order to limit the possibility of accepting a spurious pairing, reconsideration of the established pairings is necessary. The probability that a spurious pairing is jointly compatible with all the other pairings of a given hypothesis decreases as the number of pairings in the hypothesis increases. Joint compatibility is a highly restrictive criterion, that limits the combinatorial explosion of the search. Branch and bound algorithms are forced to traverse the whole correspondence space until a good bound is found. An important property of the co-visibility matrix is its close relation to the information matrix of the map. The map resulting from map joining may contain features that, coming from different local maps, correspond to the same environment feature.