.png){kind=icon}
返回
Information-Based Compact Pose SLAM
.png){kind=icon}
OA
AI
DOI：10.1109/TRO.2009.2034435.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Pose SLAM is the variant of simultaneous localization and map building (SLAM) is the variant of SLAM, in which only the robot trajectory is estimated and where landmarks are only used to produce relative constraints between robot poses. To reduce the computational cost of the information filter form of Pose SLAM and, at the same time, to delay inconsistency as much as possible, we introduce an approach that takes into account only highly informative loop-closure links and nonredundant poses. This approach includes constant time procedures to compute the distance between poses, the expected information gain for each potential link, and the exact marginal covariances while moving in open loop, as well as a procedure to recover the state after a loop closure that, in practical situations, scales linearly in terms of both time and memory. Using these procedures, the robot operates most of the time in open loop, and the cost of the loop closure is amortized over long trajectories. This way, the computational bottleneck shifts to data association, which is the search over the set of previously visited poses to determine good candidates for sensor registration. To speed up data association, we introduce a method to search for neighboring poses whose complexity ranges from logarithmic in the usual case to linear in degenerate situations. The method is based on organizing the pose information in a balanced tree whose internal levels are defined using interval arithmetic. The proposed Pose-SLAM approach is validated through simulations, real mapping sessions, and experiments using standard SLAM data sets.
Keyword:
Information filter
information gain
interval arithmetic
Pose SLAM
state recovery
tree-based data association
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
机构
引用论文
Square root SAM: Simultaneous localization and mapping via square root information smoothing平方根SAM: 通过平方根信息平滑同时定位和映射
OAAI
OAAI分享收藏Map management for efficient simultaneous localization and mapping (SLAM)用于高效同步定位和地图绘制 (SLAM) 的地图管理.png)
AUTONOMOUS ROBOTS
AUTONOMOUS ROBOTSIF4.3
PREAI
分享收藏分享收藏Potential effect of Sildenafil beyond pulmonary hypertension in a patient with diffuse systemic sclerosis and cryoglobulinemic vasculitisSpringerPlusOAAI
SpringerPlusIF0
OAAI分享收藏
查看更多内容