Publication Detail

Decoupled Stochastic Mapping.

John Leonard, Hans Jacob S. Feder
11 pp.
MITSG 03-15J
$5.50 (domestic); 7.50 (international). DOM

This paper describes decoupled stochastic mapping (DMS), a computationally efficient approach to large-scale concurrent mapping and localization, DSM divides the environment into multiple overlapping submap regions, each with its own stochastic map. Two new approximation techniques are utilized for transferring vehicle state information from the submap to another, yielding a constant-time algorithm whose memory requirements scale linearly with the number of submaps. The approach is demonstrated via simulations and experiments.

type: Technical reports

Parent Project

Project No.: 1999-RCM-3
Title: Integrated Mapping and Navigation for Autonomous Underwater Vehicles

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