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Information-based compact Pose SLAM
Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial
Pose SLAMis 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 reducethe computational cost of the information filter form of PoseSLAM and, at the same time, to delay inconsistency as much as possible, we introduce an approach that takes into account only highly informativeloop-closure links and nonredundant poses. This approach includes constant time procedures to compute the distance betweenposes, 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 practicalsituations, 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 determinegood candidates for sensor registration. To speed up data association, we introduce a method to search for neighboring poseswhose complexity ranges from logarithmic in the usual case to linear in degenerate situations. The method is based on organizingthe pose information in a balanced tree whose internal levels are defined using interval arithmetic. The proposed Pose-SLAMapproach is validated through simulations, real mapping sessions, and experiments using standard SLAM data sets.
2012-05-10
Àrees temàtiques de la UPC::Informàtica:: Robòtica
Interval analysis (Mathematics)
Multisensor data fusion
Information filterInformation gainInterval arithmeticPose SLAMState recoveryTree-based data association
Informàtica aplicada -- Geometria
Classificació INSPEC::Automation::Robots
Open Access
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