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Information-based compact Pose SLAM

Author
Ila, V.; Porta, J.; Andrade-Cetto, J.
Type of activity
Journal article
Journal
IEEE journal of robotics and automation
Date of publication
2010
Volume
26
Number
1
First page
78
Last page
93
DOI
https://doi.org/10.1109/TRO.2009.2034435 Open in new window
Repository
http://hdl.handle.net/2117/7495 Open in new window
URL
http://dx.doi.org/10.1109/TRO.2009.2034435 Open in new window
Abstract
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 reduce the 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 informative loop-closure links and nonredundant poses. This ...
Citation
Ila, V.; Porta, J.; Andrade-Cetto, J. Information-based compact Pose SLAM. "IEEE transactions on robotics", 2010, vol. 26, núm. 1, p. 78-93.
Keywords
Information filter Information gain Interval arithmetic Pose SLAM State recovery Tree-based data association
Group of research
KRD - Kinematics and Robot Design
VIS - Artificial Vision and Intelligent Systems

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