Robocentric map joining: Improving the consistency of EKF-SLAM

Robotics and Autonomous Systems - Tập 55 - Trang 21-29 - 2007
J.A. Castellanos1, R. Martinez-Cantin1, J.D. Tardós1, J. Neira1
1Dept. Informática e Ingeniería de Sistemas, Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, María de Luna 1, E-50018 Zaragoza, Spain

Tài liệu tham khảo

Smith, 1988, A stochastic map for uncertain spatial relationships, 467 Bar-Shalom, 2001 Dissanayake, 2001, A solution to the simultaneous localization and map building (SLAM) problem, IEEE Transactions on Robotics and Automation, 17, 229, 10.1109/70.938381 S. Julier, J.K. Uhlmann, A counter example to the theory of simultaneous localization and map building, in: Proceedings of the 2001 IEEE International Confeference on Robotics and Automation, Seoul, Korea, 2001, pp. 4238–4243 J.A. Castellanos, J. Neira, J.D. Tardós, Limits to the consistency of EKF-based SLAM, in: 5th IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, July 2004 M.A. Paskin, Thin junction tree filters for simultaneous localization and mapping, in: International Joint Conference on Artificial Intelligence, 2003, pp. 1157–1164 R. Martinez-Cantin, J.A. Castellanos, Unscented SLAM for large-scale outdoor environments, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, August 2005, pp. 328–333 A. Doucet, N. de Freitas, K. Murphy, S. Russell, Rao-blackwellised particle filtering for dynamic bayesian networks, in: Uncertainty in Artificial Intelligence, 2000 Thrun, 2004, FastSLAM: An efficient solution to the simultaneous localization and mapping problem with unknown data association, Journal of Machine Learning Research Tardós, 2002, Robust mapping and localization in indoor environments using sonar data, International Journal of Robotics Research, 21, 311, 10.1177/027836402320556340 Castellanos, 1999 Neira, 2001, Data association in stochastic mapping using the joint compatibility test, IEEE Transactions on Robotics and Automation, 17, 890, 10.1109/70.976019 Guivant, 2001, Optimization of the simultaneous localization and map-building algorithm for real-time implementation, IEEE Transactions on Robotics and Automation, 17, 242, 10.1109/70.938382 J.H. Kim, S. Sukkarieh, Airborne simultaneous localisation and map building, in: Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003 Leonard, 2001, Stochastic mapping using forward look sonar, Robotica, 19, 467, 10.1017/S0263574701003411 Leonard, 2000, A computationally efficient method for large-scale concurrent mapping and localization, 169 J.J. Leonard, P.M. Newman, Consistent, convergent and constant-time SLAM, in: International Joint Conference on Artificial Intelligence, Acapulco, Mexico, August 2003