Taj Mahal Wallpaper Free: Landmark Paper Model Template

Landmark Paper Model Template Definition

This paper attempts to combine the best of EKF-SLAM and scan-matching. The idea is that EKF-SLAM has nice convergence properties, while scan-matching allows us to define landmarks without resorting to geometric feature models. The result is EKF-SLAM with arbitrary shaped landmarks. This work is a first step, and serves to introduce the concept and its basic implementation, but a lot of work remains in terms of computing accurate Gaussian likelihoods, scan segmentation, and performing reliable data association etc.

It is important to keep in mind that the contribution of this paper is not its implementation, which is somewhat ad hoc, but rather the concept that EKF-SLAM is not limited to analytical geometric landmark models. This paper proposes that any set of observed data can provide an approximately Gaussian observation model amenable to the EKF. The universal observation model for SLAM is that the location of any object can observed by a relative measurement of one local coordinate frame (a landmark) from another local frame (the robot). A landmark can have arbitrary shape, but will always have a point location defined by an embedded local frame.

Landmark Paper Model Template