Updating models and their uncertainties

13 Dec

Topological maps are a method of environment representation which capture the connectivity (i.e., topology) of the environment rather than creating a geometrically accurate map.Topological SLAM approaches have been used to enforce global consistency in metric SLAM algorithms.In robotic mapping and navigation, simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.

Recent approaches apply quasi-optical wireless ranging for multi-lateration (RTLS) or multi-angulation in conjunction with SLAM as a tribute to erratic wireless measures.At the opposite extreme, tactile sensors are extremely sparse as they contain only information about points very close to the agent, so they require strong prior models to compensate in purely tactile SLAM.Most practical SLAM tasks fall somewhere between these visual and tactile extremes.This can include map annotations to the level of marking locations of individual white line segments and curbs on the road.Location-tagged visual data such as Google's Street View may also be used as part of maps.