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Just wondering, if there exists any algorithm that builds a map in a topological way (based on landmarks) instead of in a metric way (x,y). Since the gyro/odom has error anyway, it is not necessary to build a metric map. Even humans will not do this. We recognize landmarks to estimate our location, right? Is anyone aware of this kind of research?


Originally posted by Chik on ROS Answers with karma: 229 on 2013-04-08

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There are a number of topological SLAM implementations in the research community. http://openslam.org/ is a good source for finding these.

Unfortunately, as far as I am aware, none of these have ROS bindings/wrappers available.


Originally posted by fergs with karma: 13902 on 2013-04-18

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Dr Paul Newman and Mark Cummins released an open source version of Fast Appearance Based Mapping (FABMAP) toolset that`s a topological SLAM algorithm

You should have a look at this reference too:

R. Kuemmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard. Large Scale Graph-based SLAM using Aerial Images as Prior Information

I hope I`ve helped you


Originally posted by ClaudioS with karma: 21 on 2013-04-09

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