Map Structures

Terrain maps

Explicit free space

Explicit objects

Mixed T&G

Cognitive maps

Graphs

more detailed

more compact

topological

hybrid

geometric

Kweon & Kanade

Elfes, Thrun

Leonard & Durrant-Whyte, Vandorpe et al, Zhang & Faugeras, Eberst & Sicheneder

Golfarelli et al, Tsuji & Li

Kuipers & Byun

Kortenkamp & Weymouth, Nagatani et al, Franz et al, Thrun et al

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