Accurate pose estimation plays an important role in solution of simultaneous localization and mapping (SLAM) problem, required for many robotic applications. This paper presents a new approach called R-SLAM, primarily to overcome systematic and non-systematic odometry errors which are generally caused by uneven floors, unexpected objects on the floor or wheel-slippage due to skidding or fast turns.The hybrid approach presented here combines the strengths of feature based and grid based methods to produce globally consistent high resolution maps within various types of environments.
Have you had the exasperating experience of a laptop orPDA defi antly not responding to your commands? Youfrantically press key after key, but to no avail. As hopeturns to anger (but just before you throw the company’slaptop through the window) you SLAM your fi nger againstthe on/off power button. Ten seconds later, your laptopfi nally surrenders and the screen goes black in a highpitched whimper.
