DARPA The Mercator
	  Project DARPA's TMR Program

The SBM Algorithm: Real-Time On-line Mapping and Localization

We demonstrate mapping with and without odometry. All results have been obtained in real-time. The SBM Algorithm combines fast sample-based (probabilistic) methods with Newton's search for density estimation and building the most likely map.

When the background flashed yellow, the map has been disturbed manually (30 degrees rotated, 50 cem shifted) to demonstrate the robustness of the approach

Last Updated $Date: 98/11/24 10:46:11 $
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