Publication
Reduced state representation in delayed state SLAM
Conference Article
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Edition
2009
Pages
4919-4924
Doc link
http://dx.doi.org/10.1109/IROS.2009.5353910
File
Authors
Projects associated
Abstract
This paper introduces an approach that reduces the size of the state and maximizes the sparsity of the information matrix in exactly sparse delayed-state SLAM. We propose constant time procedures to measure the distance between a given pair of poses, the mutual information gain for a given candidate link, and the joint marginals required for both measures. Using these measures, we can readily identify non redundant poses and highly informative links and use only those to augment and to update the state, respectively. The result is a delayed-state SLAM system that reduces both the use of memory and the execution time and that delays
filter inconsistency by reducing the number of linearization introduced when adding new loop closure links. We evaluate the advantage of the proposed approach using simulations and data sets collected with real robots.
Categories
robots.
Scientific reference
V. Ila, J.M. Porta and J. Andrade-Cetto. Reduced state representation in delayed state SLAM, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, MO, USA, pp. 4919-4924.
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