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HybridSLAM: Combining FastSLAM and EKF-SLAM for Reliable Mapping
[chapter]
2009
Springer Tracts in Advanced Robotics
This paper presents HybridSLAM: an approach to SLAM which combines the strengths and avoids the weaknesses of two popular mapping strategies: FastSLAM and EKF-SLAM. FastSLAM is used as a front-end, producing local maps which are periodically fused into an EKF-SLAM back-end. The use of FastSLAM locally avoids linearisation of the vehicle model and provides a high level of robustness to clutter and ambiguous data association. The use of EKF-SLAM globally allows uncertainty to be remembered over
doi:10.1007/978-3-642-00312-7_40
fatcat:xdhsrq5ptnhofc4ilg6rx3uoc4