R-SLAM: Resilient localization and mapping in challenging environments
Tài liệu tham khảo
Durrant-Whyte, 2006, Simultaneous localization and mapping: part I, IEEE Robot. Autom. Mag., 13, 99, 10.1109/MRA.2006.1638022
Borenstein, 1996
M. Mazuran, F. Amigoni, Matching line segment scans with mutual compatibility constraints, in: 2014 IEEE International Conference on Robotics and Automation, ICRA, 2014, pp. 4298–4303.
J. Minguez, F. Lamiraux, L. Montesano, Metric-based scan matching algorithms for mobile robot displacement estimation, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005, pp. 3557–3563.
A. Censi, An ICP variant using a point-to-line metric, in Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, 2008, pp. 19–25.
V. Ziparo, A. Kleiner, B. Nebel, D. Nardi, Rfid-based exploration for large robot teams in: Robotics and Automation, 2007 IEEE International Conference on, 2007 pp. 4606–4613.
C. Stachniss, G. Grisetti, W. Burgard, N. Roy, Analyzing gaussian proposal distributions for mapping with rao-blackwellized particle filters, in: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, 2007, pp. 3485–3490.
Thrun, 2005
Grisetti, 2010, A tutorial on graph-based SLAM, IEEE Intell. Transp. Syst., 2, 31, 10.1109/MITS.2010.939925
Thrun, 2003, Robotic Mapping: A Survey, 1
H. Moravec, A. Elfes, High resolution maps from wide angle sonar, in: Robotics and Automation. Proceedings. 1985 IEEE International Conference on, 1985, pp. 116–121.
Smith, 1986, On the representation and estimation of spatial uncertainly, Int. J. Rob. Res., 5, 56, 10.1177/027836498600500404
Casella, 1996, Rao-blackwellisation of sampling schemes, Biometrika, 83, 81, 10.1093/biomet/83.1.81
Doucet, 1998
Doucet, 2000, Rao-blackwellised particle filtering for dynamic bayesian networks, 176
Montemerlo, 2002, FastSLAM: A factored solution to the simultaneous localization and mapping problem
D. Hahnel, W. Burgard, D. Fox, S. Thrun, An efficient fastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements, in: Intelligent Robots and Systems, 2003, IROS 2003. Proceedings. 2003 IEEE/RSJ International Conference on, vol. 1, 2003, pp. 206–211.
Sarkar, 2015, A novel method for computation of importance weights in Monte Carlo localization on line segment-based maps, Robot. Auton. Syst., 74, 51, 10.1016/j.robot.2015.07.001
A.I. Eliazar, R. Parr, DP-SLAM: Fast, robust simultaneous localization and mapping without predetermined landmarks, in: IJCAI, 2003, pp. 1135–1142.
Montemerlo, 2003, FastSLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges
G. Grisetti, C. Stachniss, W. Burgard, Improving grid-based SLAM with Rao-blackwellized particle filters by adaptive proposals and selective resampling, in: Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, 2005 pp. 2432–2437.
Grisetti, 2007, Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters, IEEE Trans. Robot., 23, 34, 10.1109/TRO.2006.889486
F. Dellaert, D. Fox, W. Burgard, S. Thrun, Monte Carlo localization for mobile robots, in: Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, vol. 2, 1999, pp. 1322–1328.
Pfingsthorn, 2013, Simultaneous localization and mapping with multimodal probability distributions, Int. J. Robot. Res., 32, 143, 10.1177/0278364912461540
K. Wurm, C. Stachniss, G. Grisetti, W. Burgard, Improved simultaneous localization and mapping using a dual representation of the environment, in: ECMR, Freiburg, Germany, 2007.
Wurm, 2010, Bridging the gap between feature-and grid-based SLAM, Robot. Auton. Syst., 58, 140, 10.1016/j.robot.2009.09.009
Brooks, 2010, HybridSLAM: Combining FastSLAM and EKF-SLAM for Reliable Mapping, vol. 57, 647
S. Kohlbrecher, O. Von Stryk, J. Meyer, U. Klingauf, A flexible and scalable SLAM system with full 3d motion estimation, in: Safety, Security, and Rescue Robotics, SSRR, 2011 IEEE International Symposium on, 2011, pp. 155–160.
Kümmerle, 2012, Simultaneous parameter calibration, localization, and mapping, Adv. Robot., 26, 2021, 10.1080/01691864.2012.728694
Lu, 1997, Globally consistent range scan alignment for environment mapping, Auton. Robots, 4, 333, 10.1023/A:1008854305733
E. Olson, J. Leonard, S. Teller, Fast iterative optimization of pose graphs with poor initial estimates, in: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, 2006, pp. 2262–2269.
U. Frese, L. Schroder, Closing a million-landmarks loop, in: Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, 2006, pp. 5032–5039.
Grisetti, 2009, Nonlinear constraint network optimization for efficient map learning, IEEE Intell. Transp. Syst., 10, 428, 10.1109/TITS.2009.2026444
Kaess, 2007, iSAM: Fast incremental smoothing and mapping with efficient data association, 1670
Kaess, 2011, iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering, 3281
Kümmerle, 2011, g2o: A general framework for graph optimization, 3607
Latif, 2012, Robust loop closing over time, 233
Olson, 2013, Inference on networks of mixtures for robust robot mapping, Int. J. Robot. Res., 32, 826, 10.1177/0278364913479413
N. Sünderhauf, P. Protzel, Switchable constraints for robust pose graph SLAM, in: IEEE International Conference on Intelligent Robots and Systems, IROS, 2012.
Murphy, 1999, Bayesian map learning in dynamic environments, 1015
A. Garulli, A. Giannitrapani, A. Rossi, A. Vicino, Simultaneous localization and map building using linear features, in: Proc. of the 2nd European Conf. on Mobile Robots, 2005, pp. 44–49.
M. Quigley, K. Conley, B.P. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, A.Y. Ng, Ros: an open-source robot operating system, in: ICRA Workshop on Open Source Software, 2009.
Kümmerle, 2009, On measuring the accuracy of SLAM algorithms, Auton. Robots, 27, 387, 10.1007/s10514-009-9155-6
R. Kümmerle, B. Steder, C. Dornhege, M. Ruhnke, G. Grisetti, C. Stachniss, A. Kleiner, SLAM benchmarking home, 2009.
A. Howard, N. Roy, The robotics data set repository (radish), 2003.