Name
Abstract | ||
|---|---|---|
The goal of simultaneous localization and mapping (SLAM) is to compute the posterior distribution over landmark poses. Typically, this is made possible through the static world assumption - the landmarks remain in the same location throughout the mapping procedure. Some prior work has addressed this assumption by splitting maps into static and dynamic sets, or by recognizing moving landmarks and tracking them. In contrast to previous work, we apply an Expectation Maximization technique to a graph based SLAM approach and allow landmarks to be dynamic. The batch nature of this operation enables us to detect moveable landmarks and factor them out of the map. We demonstrate the performance of this algorithm with a series of experiments with moveable landmarks in a structured environment. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/IROS.2010.5652091 | Intelligent Robots and Systems |
Keywords | Field | DocType |
SLAM (robots),cartography,expectation-maximisation algorithm,graph theory,image motion analysis,mobile robots,object detection,robot vision,SLAM,expectation maximization technique,graph approach,moveable landmark,object tracking,posterior distribution,simultaneous localization and mapping | Graph theory,Object detection,Computer vision,Computer science,Expectation–maximization algorithm,Posterior probability,Video tracking,Artificial intelligence,Simultaneous localization and mapping,Landmark,Mobile robot | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4244-6674-0 | 3 |
PageRank | References | Authors |
0.40 | 0 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| John Rogers | 1 | 108 | 16.07 |
| Alexander J. B. Trevor | 2 | 114 | 7.08 |
| Carlos Nieto-Granda | 3 | 50 | 7.37 |
| Henrik I. Christensen | 4 | 2848 | 235.82 |
| Rogers, J.G. | 5 | 3 | 0.40 |
| Nieto-Granda, C. | 6 | 3 | 0.40 |