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Reduced state representation in delayed-state SLAM

Author
Ila, V.; Porta, J.; Andrade-Cetto, J.
Type of activity
Presentation of work at congresses
Name of edition
IROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2009
Presentation's date
2009-10-11
Book of congress proceedings
Proceedings of the 2009 International Conference on Intelligent Robots and Systems
First page
4919
Last page
4924
Publisher
IEEE Press. Institute of Electrical and Electronics Engineers
Repository
http://hdl.handle.net/2117/6377 Open in new window
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 th...
Citation
Ila, V.; Porta, J.; Andrade-Cetto, J. Reduced state representation in delayed-state SLAM. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems". St. Louis: IEEE Press. Institute of Electrical and Electronics Engineers, 2009, p. 4919-4924.
Group of research
KRD - Kinematics and Robot Design
VIS - Artificial Vision and Intelligent Systems

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