Name
Abstract | ||
|---|---|---|
When solving the Simultaneous Localization and Mapping (SLAM) problem, submapping and graphical methods have shown to be valuable approaches that provide significant advantages over the standard EKF solution: they are faster and can produce more consistent estimates when using local coordinates. In this paper we present CI-Graph, a submapping method for SLAM that uses a graph structure to efficiently solve complex trajectories reducing the computational cost. Unlike other submapping SLAM approaches, we are able to transmit and share information through maps in the graph in a consistent manner by using conditionally independent submaps. In addition, the current submap always summarizes, without further computations, all information available making CI-Graph be an intrinsically “up to date” algorithm. Moreover, the technique is also efficient in memory requirements since it does not need to recover the full covariance matrix. To evaluate CI-Graph performance, the method has been tested using a synthetic Manhattan world and Victoria Park data set. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152581 | ICRA |
Keywords | Field | DocType |
submapping slam approach,ci-graph performance,large scale,simultaneous localization,graphical method,share information,submapping method,efficient approach,consistent manner,consistent estimate,victoria park data,graph structure,mathematical model,mobile robots,conditional independence,consistent estimator,data mining,simultaneous localization and mapping,tree graphs,robot kinematics,testing,estimation,trajectory,covariance matrix | Tree (graph theory),Computer science,Control engineering,Artificial intelligence,Simultaneous localization and mapping,Extended Kalman filter,Local coordinates,Conditional independence,Robot kinematics,Algorithm,Covariance matrix,Machine learning,Mobile robot | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 E-ISBN : 978-1-4244-2789-5 |
ISBN | Citations | PageRank |
978-1-4244-2789-5 | 8 | 0.52 |
References | Authors | |
15 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Pedro Pinies | 1 | 181 | 14.45 |
| Lina María Paz | 2 | 86 | 8.88 |
| Juan Domingo | 3 | 3319 | 258.54 |