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This is done by separating the map in different abstraction levels corresponding to local maps connected by a global map.
It is demonstrated that this approach can be made viable even though the map cannot initially be properly segmented.
A thoroughly conservative, initial, partial segmentation is described.
This thesis intends to design and implement a software based SLAM system which has potential to run in real-time using a Kinect 2 sensor as input.
The focus of the thesis has been to create a system which allows for efficient storage and representation of the map, in order to be able to explore large environments.
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