A hierarchical approach to the multi-vehicle slam problem

• Main Authors: Diluka, Moratuwage, Vo, Ba-Ngu, Wang, Danwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/103009; http://hdl.handle.net/10220/19170; http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6289934&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6289934
• Institution: Nanyang Technological University

In this paper we present a novel hierarchical solution to the Multi-Vehicle SLAM (MVSLAM) problem by extending the recently developed random finite set (RFS) based SLAM filter framework. Instead of fusing control and measurement data at each time step, we introduce a RFS Single-Vehicle SLAM based su...