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This document presents BS-SLAM, a simultaneous localization and mapping algorithm that uses B-splines to represent environments with both straight and curved features. B-splines provide a compact parametric description of environments using control point vertices. The algorithm develops efficient strategies for initializing and expanding the map representation as new areas are explored, formulating sensor observations in terms of the B-spline representation, and computing Jacobians for use in an extended Ka

Author

Luis

Language

EN