Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments

Figure 2

Sensors measurements data fusion: (a) is the laser sensor 1 trajectory, (b) is laser sensor 2 trajectory, (c) is laser sensor 3 trajectory, and (d) is all the three laser sensors’ measurements fused into an integrated trajectory; the red lines represent true exploring trajectory of mobile robot, the green dash dotted lines represent the observed exploring trajectory, and the blue dash dotted lines indicate fusion trajectory of measurements data using information algorithms.

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