Table of Contents
Laser-Based Position
Tracking and Map Generation
Outline
Motivation
Navigation
Strategies
Increase of
Robustness
Sensor Specification
Existing Mapping
Approaches
Quality of the
Generated Maps
Selection of
Features
Uniqueness of the
Estimated Pose
Feature Extraction
Complexity Reduction
Split-and-Merge for
Feature Extraction
Sensor Data
Filtering
DLM - Principle
Geometrical Fusion
of Data
DLM - Structure
Applications of the
System
Fusion of Different
Sensor Inputs
System Structure
Cost Functions of
Localization
Feedback of Vehicle
Control Signals
Path Planning
Results
Results - Position
Repeatability
Examples of the Map
Reconstruction
Topological Modeling
Abstraction of
knowledge within the system
Conclusions
Additional
Information
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Author: Darius
Burschka Email: burschka@ieee.org
Home Page: http://www.cs.jhu.edu/~burschka
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