Abstract
This Chapter presents an active exploration strategy that complements Pose SLAM and the path planning approach shown in Chap. 4.
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Notes
- 1.
With a slight abuse in notation, \(\mu _i\) refers here only to the x and y components of \(\mu _i\), and \({\varvec{\varSigma }}_{ii}\) to the marginal elements of \({\varvec{\varSigma }}_{ii}\), leaving the orientation terms out. The Jacobian \(\mathbf{H}_d\) is simply \(2 [(\mu _i-\mu _k)^{\!\top }, (\mu _k-\mu _i)^{\!\top }]\).
- 2.
Code accessed from: https://github.com/RainerKuemmerle/g2o.
- 3.
GTSAM Version 3.2.1 accessed from: https://collab.cc.gatech.edu/borg/gtsam.
- 4.
ATE implementation from the Rawseed Project (http://www.rawseeds.org) was used.
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Valencia, R., Andrade-Cetto, J. (2018). Active Pose SLAM. In: Mapping, Planning and Exploration with Pose SLAM. Springer Tracts in Advanced Robotics, vol 119. Springer, Cham. https://doi.org/10.1007/978-3-319-60603-3_5
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DOI: https://doi.org/10.1007/978-3-319-60603-3_5
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