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Experimental validation of FastSLAM algorithm characterized by a linear feature based map

Chiara Fulgenzi 1 Gianluca Ippoliti 1 Sauro Longhi 1 
1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : In this paper the Simultaneous Localization and Mapping Problem in an unknown indoor environment is addressed. A probabilistic approach based on FastSLAM algorithm and line feature map is described. Experimental results performed with a real mobile base in an indoor environment are introduced and discussed.
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Chiara Fulgenzi, Gianluca Ippoliti, Sauro Longhi. Experimental validation of FastSLAM algorithm characterized by a linear feature based map. Proc. of the IEEE/IFAC Symposium on Robot Control (SYROCO), 2006, Bologna, Italy. ⟨inria-00182010⟩

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