CMU CFR Seminar: Hierarchical Simultaneous Localization and Mapping (HSLAM)

Title : Hierarchical Simultaneous Localization and Mapping (HSLAM)

Deryck Morales


Time : 5:00pm
Place : NSH 1507


Abstract

H-SLAM is an autonomous localization and mapping strategy that
scales well to large indoor environments by decomposing the work
space into subregions. This is achieved using a topological graph
representation and associating ahigh resolution local map to each
graph edge. This organized collection ofmaps forms the Hierarchical
Atlas.

In this talk I will present the H-SLAM method in the context of
established mapping strategies and discuss the applications of the
atlas to path planning and global localization. I will present
experimental results verifying the addressed applications, and
compare the computational complexity of the H-SLAM approach to
other recent SLAM solutions. The most current work towards using
natural landmarks will be presented, and finally, future extensions of
this approach will be discussed.

http://www.cs.cmu.edu/~cfr/talks/2006-May-03.html