Name
Title | ||
|---|---|---|
On-line 3D active pose-graph SLAM based on key poses using graph topology and sub-maps |
Abstract | ||
|---|---|---|
In this paper, we present an on-line active pose-graph simultaneous localization and mapping (SLAM) frame-work for robots in three-dimensional (3D) environments using graph topology and sub-maps. This framework aims to find the best trajectory for loop-closure by re-visiting old poses based on the T-optimality and D-optimality metrics of the Fisher information matrix (FIM) in pose-graph SLAM. In order to reduce computational complexity, graph topologies are introduced, including weighted node degree (T-optimality metric) and weighted tree-connectivity (D-optimality metric), to choose a candidate trajectory and several key poses. With the help of the key poses, a sampling-based path planning method and a continuous-time trajectory optimization method are combined hierarchically and applied in the whole framework. So as to further improve the real-time capability of the method, the sub-map joining method is used in the estimation and planning process for large-scale active SLAM problems. In simulations and experiments, we validate our approach by comparing against existing methods, and we demonstrate the on-line planning part using a quad-rotor unmanned aerial vehicle (UAV). |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ICRA.2019.8793632 | 2019 International Conference on Robotics and Automation (ICRA) |
Keywords | Field | DocType |
graph topology,pose-graph simultaneous localization,three-dimensional environments,D-optimality metrics,weighted node degree,T-optimality metric,sampling-based path,continuous-time trajectory optimization method,large-scale active SLAM problems,submap joining method,online 3D active pose-graph SLAM | Motion planning,Data mining,Trajectory optimization,Control engineering,Network topology,Fisher information,Engineering,Simultaneous localization and mapping,Topological graph theory,Trajectory,Computational complexity theory | Conference |
Volume | Issue | ISSN |
2019 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-5386-8176-3 | 1 | 0.36 |
References | Authors | |
13 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yongbo Chen | 1 | 21 | 4.47 |
| Shoudong Huang | 2 | 755 | 62.77 |
| Robert Fitch | 3 | 323 | 38.97 |
| Liang Zhao | 4 | 100 | 13.74 |
| Huan Yu | 5 | 46 | 13.63 |
| Di Yang | 6 | 1 | 0.36 |