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The next challenge is to develop real\u2010time SLAM methods that enable robots to explore large, three\u2010dimensional, unstructured environments and allow subsequent operation in these environments over long periods of time. To circumvent the scale limitations inherent in SLAM, the world can be divided up into more manageable pieces. SLAM can be formulated on these pieces by using a combination of metric submaps and a topological map of the relationships between submaps. The contribution of this paper is a real\u2010time, three\u2010dimensional SLAM approach that combines an evidence grid\u2013based volumetric submap representation, a robust Rao\u2013Blackwellized particle filter, and a topologically flexible submap segmentation framework and map representation. We present heuristic methods for deciding how to segment the world and for reconstructing large\u2010scale metric maps for the purpose of closing loops. We demonstrate our method on a mobile robotic platform operating in large, three\u2010dimensional environments. \u00a9 2009 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.20320","type":"journal-article","created":{"date-parts":[[2009,10,14]],"date-time":"2009-10-14T15:58:23Z","timestamp":1255535903000},"page":"85-103","source":"Crossref","is-referenced-by-count":23,"title":["Segmented SLAM in three\u2010dimensional environments"],"prefix":"10.1002","volume":"27","author":[{"given":"Nathaniel","family":"Fairfield","sequence":"first","affiliation":[]},{"given":"David","family":"Wettergreen","sequence":"additional","affiliation":[]},{"given":"George","family":"Kantor","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2009,10,14]]},"reference":[{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.918049"},{"key":"e_1_2_1_4_1","unstructured":"Blanco J.\u2010L. 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