Abstract not found

Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and aplatform,attached to the moving object, connected by six wires whose tension is maintained along the tracked trajectory. One important shortcoming of these devices is that they are forced to operate in reduced workspaces so as to avoid singular configurations. Singularities can be eliminated by adding more wires, but this causes more wire interferences, and a higher force exerted on the moving object by the measuring device itself. This paper shows how, by introducing a rotating base, the number of wires can be reduced to three, and singularities can be avoided by using an active sensing strategy. This also permits reducing wire interference problems and the pulling force exerted by the device.

Abstract The pose graph is a central data structure in graph-based SLAM approaches. It encodes the poses of the robot during data acquisition as well as spatial constraints between them. The size of the pose graph has a direct influence on the runtime and the memory requirements of a SLAM system since it is typically used to make data associations and within the optimization procedure. In this paper, we address the problem of efficient, information-theoretic compression of such pose graphs. The central question is which sensor measurements can be removed from the graph without loosing too much information. Our approach estimates the expected information gain of laser measurements with respect to the resulting occupancy grid map. It allows us to restrict the size of the pose graph depending on the information that the robot acquires about the environment. Alternatively, we can enforce a maximum number of laser scans the robot is allowed to store, which results in an any-space SLAM system. Real world experiments suggest that our approach efficiently reduces the growth of the pose graph while minimizing the loss of information in the resulting grid map. 1