The Simultaneous Localization and Mapping (SLAM) technique has achieved astonishing
progress over the last few decades and has generated considerable interest in the …

We are concerned with improving the range resolution of stereo vision for entry, descent,
and landing (EDL) missions to Mars and other planetary bodies. The goal is to create …

In this paper, we present a hierarchical mapping method that allows us to obtain accurate
metric maps of large environments in real time. The lower (or local) map level is composed …

This paper addresses the problem of simultaneous localization and mapping (SLAM) by a
mobile robot. An incremental SLAM algorithm is introduced that is derived from multigrid …

This paper aims at a discussion of the structure of the SLAM problem. The analysis is not
strictly formal but based both on informal studies and mathematical derivation. The first part …

This article presents a very efficient SLAM algorithm that works by hierarchically dividing a
map into local regions and subregions. At each level of the hierarchy each region stores a …

Extended Kalman filter (EKF) has been a popular choice to solve simultaneous localization
and mapping (SLAM) problems for mobile robots or vehicles. However, the performance of …

In this paper we address the problem of autonomous navigation in very large unstructured
environments. A new hybrid metric map (HYMM) structure is presented that combines …

This work addresses the problem of decision-making under uncertainty for robot navigation.
Since robot navigation is most naturally represented in a continuous domain, the problem is …

Localization and Mapping are two of the most important capabilities for autonomous mobile
robots and have been receiving considerable attention from the scientific computing …