Map management system for cv-SLAM

Abstract

This paper present a map management system for ceiling vision (cv)-SLAM where a map is comprised of line landmarks on the ceiling. Since the size of a map, which is the number of landmarks, is related to computational and memorial cost, it should be managed in an appropriate size. For this purpose, the binary Bayes filter is utilized to estimate the probability of existence of a landmark. We demonstrate the system in the real world experiment to prove its performance.