@inproceedings{cfabee8973e0470c80f63012e1705929,
title = "T-SLAM: Registering topological and geometric maps for robot localization",
abstract = "This article reports on a map building method that integrates topological and geometric maps created independently using multiple sensors. The procedure is termed T-SLAM to emphasize the integration of Topological and local Geometric maps that are created using a SLAM algorithm. The topological and metric representations are created independently, being local metric maps associated with topological places and registered at the topological level. The T-SLAM approach is mathematically formulated and applied to the localization problem within the Intelligent Robotic Porter System (IRPS) project, which is aimed at deploying mobile robots in large environments (e.g. airports). Some preliminary experimental results demonstrate the validity of the proposed method.",
keywords = "Robot localization, SLAM geometric maps, Topological maps, View-based localization",
author = "F. Ferreira and I. Amorim and R. Rocha and J. Dias",
year = "2009",
doi = "10.1007/978-3-540-89859-7_29",
language = "British English",
isbn = "9783540898580",
series = "Lecture Notes in Electrical Engineering",
pages = "423--438",
booktitle = "Multisensor Fusion and Integration for Intelligent Systems",
note = "7th IEEE International Conference on Multi-Sensor Integration and Fusion, IEEE MFI 2008 ; Conference date: 20-08-2008 Through 22-08-2008",
}