Title
A Sparse Separable SLAM Back-End.
Abstract
We propose a scalable algorithm to take advantage of the separable structure of simultaneous localization and mapping (SLAM). Separability is an overlooked structure of SLAM that distinguishes it from a generic nonlinear least-squares problem. The standard relative-pose and relative-position measurement models in SLAM are affine with respect to robot and features’ positions. Therefore, given an estimate for robot orientation, the conditionally optimal estimate for the rest of the state variables can be easily computed by solving a sparse linear least-squares problem. We propose an algorithm to exploit this intrinsic property of SLAM by stripping the problem down to its nonlinear core, while maintaining its natural sparsity. Our algorithm can be used in conjunction with any Newton-based solver and is applicable to 2-D/3-D pose-graph and feature-based SLAM. Our results suggest that iteratively solving the nonlinear core of SLAM leads to a fast and reliable convergence as compared to the state-of-the-art sparse back-ends.
Year
DOI
Venue
2016
10.1109/TRO.2016.2609394
IEEE Trans. Robotics
Keywords
Field
DocType
Simultaneous localization and mapping,Convergence,Maximum likelihood estimation,Approximation algorithms,Position measurement,Simultaneous localization and mapping,Convergence,Maximum likelihood estimation,Approximation algorithms,Position measurement
Convergence (routing),Affine transformation,Intrinsic and extrinsic properties (philosophy),Approximation algorithm,Mathematical optimization,Nonlinear system,Control theory,State variable,Solver,Simultaneous localization and mapping,Mathematics
Journal
Volume
Issue
ISSN
32
6
1552-3098
Citations 
PageRank 
References 
2
0.36
0
Authors
3
Name
Order
Citations
PageRank
Kasra Khosoussi1326.15
Shoudong Huang275562.77
Gamini Dissanayake32226256.36