A new hybrid metric map representation by using Voronoi diagram and its application to SLAM
Published: Jun 1, 2012
Abstract
In this paper we present a hybrid metric map representation, which partitions the global map space into a series of local subregions by operating Voronoi diagram on global feature map and builds a local dense map in each subregion. Compared with the existing hybrid metric map representation [1] [2] (HYMM), this new hybrid metric map representation has the following advantages: First, the Voronoi diagram ensures that the map partition result is...
Paper Details
Title
A new hybrid metric map representation by using Voronoi diagram and its application to SLAM
Published Date
Jun 1, 2012
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