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Outdoor Simultaneous Localisation and Mapping Using RatSLAM

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Field and Service Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 25))

Summary

In this paper an existing method for indoor Simultaneous Localisation and Mapping (SLAM) is extended to operate in large outdoor environments using an omnidirectional camera as its principal external sensor. The method, RatSLAM, is based upon computational models of the area in the rat brain that maintains the rodent’s idea of its position in the world. The system uses the visual appearance of different locations to build hybrid spatial-topological maps of places it has experienced that facilitate relocalisation and path planning. A large dataset was acquired from a dynamic campus environment and used to verify the system’s ability to construct representations of the world and simultaneously use these representations to maintain localisation.

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Author information

Authors and Affiliations

  1. School of Information Technology and Electrical Engineering, The University of Queensland, Australia

    David Prasser, Michael Milford & Gordon Wyeth

Authors
  1. David Prasser
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  2. Michael Milford
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  3. Gordon Wyeth
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Editor information

Editors and Affiliations

  1. Autonomous Systems Laboratory, CSIRO ICT Centre, P.O. Box 883, 4069, Kenmore, Australia

    Peter Corke

  2. Australian Centre for Field Robotics, The University of Sydney, The Rose Street Building J04, NSW, Australia

    Salah Sukkariah

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© 2006 Springer-Verlag Berlin Heidelberg

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Prasser, D., Milford, M., Wyeth, G. (2006). Outdoor Simultaneous Localisation and Mapping Using RatSLAM. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_13

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  • DOI: https://doi.org/10.1007/978-3-540-33453-8_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-33452-1

  • Online ISBN: 978-3-540-33453-8

  • eBook Packages: EngineeringEngineering (R0)

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