Local map update for large scale SLAM

J. Aulinas, J. Salvi, X. Lladó, Y. Petillot

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


A technique for simultaneous localisation and mapping (SLAM) for large scale scenarios is presented. This solution is based on the use of independent submaps of a limited size to map large areas. In addition, a global stochastic map, containing the links between adjacent submaps, is built. The information in both levels is corrected every time a loop is closed: local maps are updated with the information from overlapping maps, and the global stochastic map is optimised by means of constrained minimisation. © 2010 The Institution of Engineering and Technology.

Original languageEnglish
Pages (from-to)564-566
Number of pages3
JournalElectronics Letters
Issue number8
Publication statusPublished - 2010


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