Toward a Unified Bayesian Approach to Hybrid Metric--Topological SLAM

No abstract is available for this paper.

• Publication year

  2008

• Venue

  IEEE Transactions on robotics

• Publication date

  2008-04-01

• Fields of study

  Mathematics, Computer Science, Engineering

• Identifiers
  DOI 10.1109/TRO.2008.918049
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Importance

  2019cited by this paper
• Causal networks: semantics and expressiveness

  2013cited by this paper
• Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters

  2007influential reference
• Analysis of Particle Methods for Simultaneous Robot Localization and Mapping and a New Algorithm: Marginal-SLAM

  2007cited by this paper
• A New Approach for Large-Scale Localization and Mapping: Hybrid Metric-Topological SLAM

  2007cited by this paper
• Supervised semantic labeling of places using information extracted from sensor data

  2007cited by this paper
• EKF SLAM updates in O(n) with Divide and Conquer SLAM

  2007cited by this paper
• Fast and accurate SLAM with Rao-Blackwellized particle filters

  2007cited by this paper
• Probabilistic Appearance Based Navigation and Loop Closing

  2007cited by this paper
• Consistency of the EKF-SLAM Algorithm

  2006cited by this paper
• Simultaneous localization and mapping: part I

  2006cited by this paper
• Bayesian inference in the space of topological maps

  2006influential reference
• A Discussion of Simultaneous Localization and Mapping

  2006cited by this paper
• Consistent observation grouping for generating metric-topological maps that improves robot localization

  2006influential reference
• Multi-hierarchical semantic maps for mobile robotics

  2005cited by this paper
• Hierarchical map building using visual landmarks and geometric constraints

  2005cited by this paper
• A Proof for the Approximate Sparsity of SLAM Information Matrices

  2005cited by this paper
• Hierarchical SLAM: real-time accurate mapping of large environments

  2005cited by this paper
• Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After Actively Closing Loops

  2005cited by this paper
• Loop-closing and planarity in topological map-building

  2004cited by this paper
• Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas Framework

  2004cited by this paper
• Towards a general theory of topological maps

  2004cited by this paper
• Using the topological skeleton for scalable global metrical map-building

  2004cited by this paper
• Exploration with active loop-closing for FastSLAM

  2004cited by this paper
• Local metrical and global topological maps in the hybrid spatial semantic hierarchy

  2004cited by this paper
• Improving efficiency in mobile robot task planning through world abstraction

  2004cited by this paper
• Hybrid topological/metric approach to SLAM

  2004cited by this paper
• Fundamental Theory for Typed Attributed Graph Transformation

  2004cited by this paper
• Limits to the consistency of EKF-based SLAM

  2004cited by this paper
• Robotic mapping: a survey

  2003cited by this paper
• FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges

  2003cited by this paper
• An Atlas framework for scalable mapping

  2003cited by this paper
• Results for outdoor-SLAM using sparse extended information filters

  2003cited by this paper
• Hybrid simultaneous localization and map building: a natural integration of topological and metric

  2003cited by this paper
• An introduction to the anchoring problem

  2003cited by this paper
• Learning Occupancy Grid Maps with Forward Sensor Models

  2003cited by this paper
• Multihierarchical Graph Search

  2002cited by this paper
• FastSLAM: a factored solution to the simultaneous localization and mapping problem

  2002cited by this paper
• Robust Mapping and Localization in Indoor Environments Using Sonar Data

  2002cited by this paper
• Probabilistic robotics

  2002cited by this paper
• A Solution to the Simultaneous Localisation and Map Building (SLAM) Problem

  2001cited by this paper
• Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization

  2001cited by this paper
• Data association in stochastic mapping using the joint compatibility test

  2001cited by this paper
• Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks

  2000cited by this paper
• On sequential Monte Carlo sampling methods for Bayesian filtering

  2000cited by this paper
• Incremental mapping of large cyclic environments

  1999cited by this paper
• Bayesian Map Learning in Dynamic Environments

  1999cited by this paper
• Globally Consistent Range Scan Alignment for Environment Mapping

  1997cited by this paper
• Normalized cuts and image segmentation

  1997cited by this paper
• Integrating Grid-Based and Topological Maps for Mobile Robot Navigation

  1996cited by this paper
• Map building for a mobile robot equipped with a 2D laser rangefinder

  1994cited by this paper
• A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations

  1991cited by this paper
• Robotic exploration as graph construction

  1991cited by this paper
• Using occupancy grids for mobile robot perception and navigation

  1989cited by this paper
• A stochastic map for uncertain spatial relationships

  1988cited by this paper
• Maintaining representations of the environment of a mobile robot

  1988cited by this paper
• Sensor Fusion in Certainty Grids for Mobile Robots

  1988cited by this paper
• Using the SIR algorithm to simulate posterior distributions

  1988cited by this paper
• Estimating uncertain spatial relationships in robotics

  1986cited by this paper
• High resolution maps from wide angle sonar

  1985cited by this paper

• Autonomous Navigation in Large‐Scale Underground Environments Based on a Purely Topological Understanding of Tunnel Networks

  2026cites this paper
• Object-Level Semantic Metric Mapping for Robot Object Search in Home Environment

  2025cites this paper
• Computer Vision-Based Position Estimation for an Autonomous Underwater Vehicle

  2024cites this paper
• A flexible framework for accurate LiDAR odometry, map manipulation, and localization

  2024cites this paper
• Hybrid Metric‐Topological Localization for Robots in Pipe Networks

  2024cites this paper
• A Unified Topological Representation for Robotic Fleets in Agricultural Applications

  2024cites this paper
• Bird’s-Eye-View Scene Graph for Vision-Language Navigation

  2023cites this paper
• Sequential Monte Carlo localization in topometric appearance maps

  2023cites this paper
• Image-based Outdoor Navigation in Static Environments via Conditional Neural Movement Primitive

  2023cites this paper
• Hybrid metric-feature mapping based on camera and Lidar sensor fusion

  2023cites this paper
• A Map of Spatial Navigation for Neuroscience.

  2023cites this paper
• Localization of robots under two-dimensional indoor conditions

  2023cites this paper
• Bacchus Long‐Term (BLT) data set: Acquisition of the agricultural multimodal BLT data set with automated robot deployment

  2023cites this paper
• BEVBert: Multimodal Map Pre-training for Language-guided Navigation

  2022cites this paper
• Robust Indoor Localization Using Histogram of Oriented Depth Model Feature Map for Intelligent Service Robotics

  2022cites this paper
• BEVBert: Topo-Metric Map Pre-training for Language-guided Navigation

  2022cites this paper
• A survey of crowdsourcing-based indoor map learning methods using smartphones

  2022cites this paper
• Building Metric-Topological Map to Efficient Object Search for Mobile Robot

  2022cites this paper
• Camera, LiDAR and Multi-modal SLAM Systems for Autonomous Ground Vehicles: a Survey

  2022cites this paper
• Active Mapping and Robot Exploration: A Survey

  2021cites this paper
• Where am I? Localization techniques for Mobile Robots A Review

  2020cites this paper
• Improved intelligent vehicle self-localization with integration of sparse visual map and high-speed pavement visual odometry

  2020cites this paper
• Comparation of several mapping methods for humanoid robot

  2020cites this paper
• The Masked Mapper: Masked Metric Mapping

  2020cites this paper
• Neural Network based 3D Mapping Using Depth Image Camera

  2020cites this paper
• Teaching Experience

  2020cites this paper
• Building an Efficient Occupancy Grid Map Based on Lidar Data Fusion for Autonomous driving Applications

  2019cites this paper
• MH-iSAM2: Multi-hypothesis iSAM using Bayes Tree and Hypo-tree

  2019cites this paper
• A Submap per Perspective - Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality

  2019cites this paper
• Ontology-based conditional random fields for object recognition

  2019cites this paper
• Camera Pose Correction in SLAM Based on Bias Values of Map Points

  2019cites this paper
• Urban patterns: using spatial arrangement for vision-based place recognition and localisation

  2019cites this paper
• Topological Mapping and Navigation in Real-World Environments

  2018cites this paper
• Improving Localisation Accuracy using Submaps in warehouses

  2018cites this paper
• State of the Art of Automated Buses

  2018cites this paper
• Integration of vision and topological self-localization for intelligent vehicles

  2018cites this paper
• Modelado y regulación del flujo de datos sensoriales de robots teleoperados por internet

  2017cites this paper
• An Innovative Combined Filter SLAM Algorithm for Mobile Robots in Large-Scale Environment

  2017cites this paper
• A vision-centered multi-sensor fusing approach to self-localization and obstacle perception for robotic cars

  2017cites this paper
• Robust submap-based probabilistic inconsistency detection for multi-robot mapping

  2017cites this paper
• Mapping under changing trajectory estimates

  2017cites this paper
• Survey of 3D Map in SLAM: Localization and Navigation

  2017cites this paper
• Map segmentation for simultaneous localization and mapping in ruins

  2016cites this paper
• Robust Localization in 3D Prior Maps for Autonomous Driving

  2016cites this paper
• Place recognition for mobile robot in changing environments

  2016influential citation
• A localization approach in a distributed multiagent environment

  2016cites this paper
• Hybrid mapping for large urban environments

  2016cites this paper
• Image-based camera localization: an overview

  2016cites this paper
• A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM

  2016cites this paper
• Approaches to efficient visual homing of mobile robots in rough terrain

  2016cites this paper
• Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey

  2015cites this paper
• Contributions to Localization, Mapping and Navigation in Mobile Robotics

  2015cites this paper
• Virtual pheromone map building and a utilization method for a multi-purpose swarm robot system

  2015cites this paper
• Hybrid Metric-topological Mapping for Large Scale Monocular SLAM

  2015cites this paper
• Vision-based topological mapping and localization methods: A survey

  2015cites this paper
• ROBOT LOCALIZATION AND PATH PLANNING BASED ON POTENTIAL FIELD FOR MAP BUILDING IN STATIC ENVIRONMENTS

  2015cites this paper
• Hierarchical approach to fingerprint of places based real-time topological mapping for autonomous rovers

  2015cites this paper
• Feature based graph SLAM with high level representation using rectangles

  2015cites this paper
• Local Semidefinite Programming-Based Node Localization System for Wireless Sensor Network Applications

  2014cites this paper
• Uma abordagem distribuída e bio-inspirada para mapeamento de ambientes internos utilizando múltiplos robôs móveis

  2014cites this paper
• Topometric localization on a road network

  2014cites this paper
• Vision-based topological mapping and localization by means of local invariant features and map refinement

  2014cites this paper
• Incremental topological segmentation for semi-structured environments using discretized GVG

  2014cites this paper
• Vision-Based Hybrid Map Building for Mobile Robot Navigation

  2014cites this paper
• State-of-the-Art in Vision-Based Topological Mapping and Localization Methods∗

  2014cites this paper
• Spatial semantic hybrid map building and application of mobile service robot

  2014cites this paper
• Developing grounded representations for robots through the principles of sensorimotor coordination

  2014cites this paper
• Using Embodied Data for Localization and Mapping

  2014cites this paper
• Trail-Map: A scalable landmark data structure for biologically inspired range-free navigation

  2014cites this paper
• A Vision-Based Relative Navigation Approach for Autonomous Multirotor Aircraft

  2013cites this paper
• Creating Metric-topological Maps for Large-scale Monocular SLAM

  2013influential citation
• Vision-only autonomous navigation using topometric maps

  2013cites this paper
• Hierarchical SLAM using spectral submap matching with opportunities for long-term operation

  2013cites this paper
• Segmented DP-SLAM

  2013influential citation
• RFID-based hybrid metric-topological SLAM for GPS-denied environments

  2013cites this paper
• Semantic mapping and navigation: A Bayesian approach

  2013cites this paper
• Self-Localization Based on Multiresolution Map for Remote Control of Multiple Mobile Robots

  2013cites this paper
• Nested Graph Representation for Visual SLAM based on Local and Global Feature Processing

  2013cites this paper
• Sparser Relative Bundle Adjustment (SRBA): Constant-time maintenance and local optimization of arbitrarily large maps

  2013cites this paper
• Loop closure for topological mapping and navigation with omnidirectional images

  2013cites this paper
• A robust, multi-hypothesis approach to matching occupancy grid maps

  2013influential citation
• Initial self-localization based on shared information for multi-robot teleoperation system

  2013cites this paper
• How Albot1 Computes its Topological-metric Map

  2013cites this paper
• Probabilistic mapping with mobile robots in structured environments

  2013cites this paper
• Topological simultaneous localization and mapping: a survey

  2013cites this paper
• Developing a Holonomic iROV as a Tool for Kelp Bed Mapping

  2013cites this paper
• Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation

  2013cites this paper
• Towards Persistent Localization and Mapping with a Continuous Appearance-based Topology

  2012cites this paper
• CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory

  2012influential citation
• Sub-Map Dividing and Realignment FastSLAM by Blocking Gibbs MCEM for Large-Scale 3-D Grid Mapping

  2012cites this paper
• A review of path planning and mapping technologies for autonomous mobile robot systems

  2012cites this paper
• Visual simultaneous localization and mapping using stereo vision with human body elimination for service robotics

  2012cites this paper
• Vision-based metric topological SLAM

  2012cites this paper
• A Framed-quadtree based on Reversed D* Path Planning Approach for Intelligent Mobile Robot

  2012cites this paper
• A Markov semi-supervised clustering approach and its application in topological map extraction

  2012cites this paper
• Efficient Estimation for Small Multi-Rotor Air Vehicles Operating in Unknown, Indoor Environments

  2012cites this paper
• Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods

  2012cites this paper
• A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps

  2012influential citation
• Self-Organizing Mapping of Robotic Environments Based on Neural Networks

  2012cites this paper
• Multiple Integrated Navigation Sensors for Improved Occupancy Grid Fastslam

  2012influential citation