Combining Object Recognition and SLAM for Extended Map Representations

Building a map while navigating in an unknown environment is a major problem in robotics. The robot has to incrementally build a map of the environment, while concurrently using this map to localise itself. As the number of landmarks increases the problem becomes more complex and expensive to compute - the complexity is quadratic in the number of landmarks. Various approaches have tackled the complexity problem [11,4,15,21,3], however two challenging issues remain in SLAM: reliable data association and operation in dynamic environments.

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