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179
FastSLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges
"... In [15], Montemerlo et al. proposed an algorithm called FastSLAM as an efficient and robust solution to the simultaneous localization and mapping problem. This paper describes a modified version of FastSLAM that overcomes important deficiencies of the original algorithm. We prove convergence of this ..."
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Cited by 225 (7 self)
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In [15], Montemerlo et al. proposed an algorithm called FastSLAM as an efficient and robust solution to the simultaneous localization and mapping problem. This paper describes a modified version of FastSLAM that overcomes important deficiencies of the original algorithm. We prove convergence of this new algorithm for linear SLAM problems and provide real-world experimental results that illustrate an order of magnitude improvement in accuracy over the original FastSLAM algorithm. 1
An Atlas Framework for Scalable Mapping
- in IEEE International Conference on Robotics and Automation
, 2003
"... This paper describes Atlas, a hybrid metrical /topological approach to SLAM that achieves efficient mapping of large-scale environments. The representation is a graph of coordinate frames, with each vertex in the graph representing a local frame, and each edge representing the transformation between ..."
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Cited by 178 (19 self)
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This paper describes Atlas, a hybrid metrical /topological approach to SLAM that achieves efficient mapping of large-scale environments. The representation is a graph of coordinate frames, with each vertex in the graph representing a local frame, and each edge representing the transformation between adjacent frames. In each frame, we build a map that captures the local environment and the current robot pose along with the uncertainties of each. Each map's uncertainties are modeled with respect to its own frame. Probabilities of entities with respect to arbitrary frames are generated by following a path formed by the edges between adjacent frames, computed via Dijkstra's shortest path algorithm. Loop closing is achieved via an efficient map matching algorithm. We demonstrate the technique running in real-time in a large indoor structured environment (2.2 km path length) with multiple nested loops using laser or ultrasonic ranging sensors.
Square Root SAM: Simultaneous localization and mapping via square root information smoothing
, 2006
"... Solving the SLAM (simultaneous localization and mapping) problem is one way to enable a robot to explore, map, and navigate in a previously unknown environment. Smoothing approaches have been investigated as a viable alternative to extended Kalman filter (EKF)based solutions to the problem. In parti ..."
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Cited by 144 (38 self)
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Solving the SLAM (simultaneous localization and mapping) problem is one way to enable a robot to explore, map, and navigate in a previously unknown environment. Smoothing approaches have been investigated as a viable alternative to extended Kalman filter (EKF)based solutions to the problem. In particular, approaches have been looked at that factorize either the associated information matrix or the measurement Jacobian into square root form. Such techniques have several significant advantages over the EKF: they are faster yet exact; they can be used in either batch or incremental mode; are better equipped to deal with non-linear process and measurement models; and yield the entire robot trajectory, at lower cost for a large class of SLAM problems. In addition, in an indirect but dramatic way, column ordering heuristics automatically exploit the locality inherent in the geographic nature of the SLAM problem. This paper presents the theory underlying these methods, along with an interpretation of factorization in terms of the graphical model associated with the SLAM problem. Both simulation results and actual SLAM experiments in large-scale environments are presented that underscore the potential of these methods as an alternative to EKF-based approaches.
Thin Junction Tree Filters for Simultaneous Localization and Mapping
- In Intl. Joint Conf. on Artificial Intelligence (IJCAI
, 2003
"... Simultaneous Localization and Mapping (SLAM) is a fundamental problem in mobile robotics: while a robot navigates in an unknown environment, it must incrementally build a map of its surroundings and localize itself within that map. Traditional approaches to the problem are based upon Kalman filters, ..."
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Cited by 128 (1 self)
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Simultaneous Localization and Mapping (SLAM) is a fundamental problem in mobile robotics: while a robot navigates in an unknown environment, it must incrementally build a map of its surroundings and localize itself within that map. Traditional approaches to the problem are based upon Kalman filters, but suffer from complexity issues: the size of the belief state and the time complexity of the filtering operation grow quadratically in the size of the map. This paper presents a filtering technique that maintains a tractable approximation of the filtered belief state as a thin junction tree. The junction tree grows under measurement and motion updates and is periodically "thinned" to remain tractable via efficient maximum likelihood projections. When applied to the SLAM problem, these thin junction tree filters have a linear-space belief state representation, and use a linear-time filtering operation. Further approximation can yield a constant-time filtering operation, at the expense of delaying the incorporation of observations into the majority of the map. Experiments on a suite of SLAM problems validate the approach.
Hierarchical slam: Real-time accurate mapping of large environments,”
- IEEE Transactions on Robotics,
, 2005
"... Abstract-In this paper, we present a hierarchical mapping method that allows us to obtain accurate metric maps of large environments in real time. The lower (or local) map level is composed of a set of local maps that are guaranteed to be statistically independent. The upper (or global) level is an ..."
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Cited by 110 (9 self)
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Abstract-In this paper, we present a hierarchical mapping method that allows us to obtain accurate metric maps of large environments in real time. The lower (or local) map level is composed of a set of local maps that are guaranteed to be statistically independent. The upper (or global) level is an adjacency graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained at this level in a relative stochastic map. We propose a close to optimal loop closing method that, while maintaining independence at the local level, imposes consistency at the global level at a computational cost that is linear with the size of the loop. Experimental results demonstrate the efficiency and precision of the proposed method by mapping the Ada Byron building at our campus. We also analyze, using simulations, the precision and convergence of our method for larger loops.
The GraphSLAM algorithm with applications to large-scale mapping of urban structures
- INTERNATIONAL JOURNAL ON ROBOTICS RESEARCH
, 2006
"... This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization techniques to SLAM problems. It transforms the SLAM posterior into a graphical network, representing the log-likelihood of ..."
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Cited by 104 (2 self)
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This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization techniques to SLAM problems. It transforms the SLAM posterior into a graphical network, representing the log-likelihood of the data. It then reduces this graph using variable elimination techniques, arriving at a lowerdimensional problems that is then solved using conventional optimization techniques. As a result, GraphSLAM can generate maps with 10 8 or more features. The paper discusses a greedy algorithm for data association, and presents results for SLAM in urban environments with occasional GPS measurements.
Towards a General Theory of Topological Maps
- Artificial Intelligence
, 2002
"... We present a general theory of topological maps whereby sensory input, topological and local metrical information are combined to define the topological maps explaining such information. Topological maps correspond to the minimal models of an axiomatic theory describing the relationships between ..."
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Cited by 84 (9 self)
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We present a general theory of topological maps whereby sensory input, topological and local metrical information are combined to define the topological maps explaining such information. Topological maps correspond to the minimal models of an axiomatic theory describing the relationships between the different sources of information explained by a map. We use a circumscriptive theory to specify the minimal models associated with this representation.
Mobile Robot Localisation and Mapping in Extensive Outdoor Environments
, 2002
"... This thesis addresses the issues of scale for practical implementations of simultaneous localisation and mapping (SLAM) in extensive outdoor environments. Building an incremental map while also using it for localisation is of prime importance for mobile robot navigation but, until recently, has bee ..."
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Cited by 70 (9 self)
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This thesis addresses the issues of scale for practical implementations of simultaneous localisation and mapping (SLAM) in extensive outdoor environments. Building an incremental map while also using it for localisation is of prime importance for mobile robot navigation but, until recently, has been confined to small-scale, mostly indoor, environments. The critical problems for large-scale implementations are as follows. First, data association--- finding correspondences between map landmarks and robot sensor measurements---becomes difficult in complex, cluttered environments, especially if the robot location is uncertain. Second, the information required to maintain a consistent map using traditional methods imposes a prohibitive computational burden as the map increases in size. And third, the mathematics for SLAM relies on assumptions of small errors and near-linearity, and these become invalid for larger maps.
Multi-robot slam with sparse extended information filters
, 2003
"... Abstract. We present an algorithm for the multi-robot simultaneous localization and mapping (SLAM) problem. Our algorithm enables teams of robots to build joint maps, even if their relative starting locations are unknown and landmarks are ambiguous—which is presently an open problem in robotics. It ..."
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Cited by 64 (4 self)
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Abstract. We present an algorithm for the multi-robot simultaneous localization and mapping (SLAM) problem. Our algorithm enables teams of robots to build joint maps, even if their relative starting locations are unknown and landmarks are ambiguous—which is presently an open problem in robotics. It achieves this capability through a sparse information filter technique, which represents maps and robot poses by Gaussian Markov random fields. The alignment of local maps into a single global maps is achieved by a tree-based algorithm for searching similar-looking local landmark configurations, paired with a hill climbing algorithm that maximizes the overall likelihood by search in the space of correspondences. We report favorable results obtained with a real-world benchmark data set. 1
