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Foundations of Robotics
Seminar, May 3, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Hierarchical
Simultaneous Localization and Mapping (HSLAM)
Deryck
Morales
Newell Simon Hall 1507
Refreshments 4:45 pm
Talk 5:00 pm
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 a high resolution
local map to each graph edge. This organized collection of maps 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.
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Speaker Appointments |
For appointments, please contact Deryck Morales (deryck@cs.cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.