A Hybrid Approach to Finding Cycles in Hybrid Maps

摘要: One of the most difficult problems in Simultaneous Localisation and Mapping (SLAM) is that identifying closing cycles. While localisation methods exist can provide local consistency a map, residual errors grow unbounded global metric maps. Topological maps are favoured by some because they do not have however too correspondence due to perceptual aliasing. In this paper we discuss our approach cycles topological map. We use both map itself identify