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On 2D SLAM for Large Indoor Spaces - A Polygon-Based Solution

Abstract : Indoor SLAM and exploration is an important topic in robotics. Most solutions today work with a 2D grid representation as map model, both for the internal data format and for the output of the algorithm. While this is convenient in several ways, it also brings its own limitations, in particular because of the memory requirements of this map format. In this thesis we introduce PolyMap, a 2D map format aimed at indoor mapping, and PolySLAM, a SLAM algorithm that produces PolyMaps.
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Johann Dichtl. On 2D SLAM for Large Indoor Spaces - A Polygon-Based Solution. Robotics [cs.RO]. Ecole nationale supérieure Mines-Télécom Lille Douai, 2019. English. ⟨NNT : 2019MTLD0006⟩. ⟨tel-02492637⟩

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