2017
DOI: 10.1007/978-3-319-60603-3_4
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Abstract: Abstract-The probabilistic belief networks that result from standard feature-based simultaneous localization and map building cannot be directly used to plan trajectories. The reason is that they produce a sparse graph of landmark estimates and their probabilistic relations, which is of little value to find collision free paths for navigation. In contrast, we argue in this paper that Pose SLAM graphs can be directly used as belief roadmaps. We present a method that devises optimal navigation strategies by sear… Show more

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Cited by 13 publications
(9 citation statements)
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References 52 publications
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“…However, the BRM technique needs an existing model of the environment. [19] technical report examines Pose SLAM graphs and their use as belief road maps (BRMs). The BRM algorithm uses a known model of the environment.…”
Section: Project Background Researchmentioning
confidence: 99%
“…However, the BRM technique needs an existing model of the environment. [19] technical report examines Pose SLAM graphs and their use as belief road maps (BRMs). The BRM algorithm uses a known model of the environment.…”
Section: Project Background Researchmentioning
confidence: 99%
“…These methods employ a random sample of the space (connecting points randomly) and deciding if a route or direction is feasible or if exists a possible collision [9]. Probabilistic RoadMaps (PRM) [10], Rapidly-exploring Random Graph (RRG) [11] and Rapidly-exploring Random Tree (RRT) [12] algorithms are example applications of these methods. RRG generates an undirected graph, possibly containing cycles, and RRT a directed tree.…”
Section: Related Workmentioning
confidence: 99%
“…During finding the path, the means for obtaining information and the method for processing the information vary greatly based on type of the sensor. Generally, they can be divided into laser-based SLAM [19,20] and vision-based SLAM [21,22]. Based on laser scanner, laser-based SLAM calculates distance information by actively emitting optical signals and calculating its propagation time.…”
Section: Eight-direction Scanning Detection (Edsd) Algorithmmentioning
confidence: 99%