To my understanding appearance-based SLAM uses only information coming from sensors for mapping and localization. It completely discards control information from actuators. I'm I correct?
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$\begingroup$ Welcome to Robotics:SE. You might find it helpful to review the site tour and Help Centre and, in particular, How to Ask. $\endgroup$– sempaiscubaJan 28, 2018 at 21:40
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2 Answers
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Appearance-based SLAM methods model the set of discrete locations in a space and the existence of paths between these locations.
I suggest you first read this paper Appearance based slam for mobile robot . Try to know the basic idea behind the appearance based slam.
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This depends on the localization approach on your SLAM (Simultaneous localization and mapping), i.e. AMCL localization algorithm using the laser (sensor) + wheels encoders (actuators sensors).
[Note]:
This algorithm based on adaptive Monte Carlo + EKF (extended Kalman filter)
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$\begingroup$ Could you be a little more specific? How does the localization approach make one algorithm appearance-based? $\endgroup$ Jan 30, 2018 at 18:18
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$\begingroup$ What do you mean by "algorithm appearance-based"? $\endgroup$ Jan 30, 2018 at 20:54