DocumentCode :
3013737
Title :
A hybrid SLAM representation for dynamic marine environments
Author :
Bibby, Charles ; Reid, Ian
Author_Institution :
Active Vision Lab., Oxford Univ., Oxford, UK
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
257
Lastpage :
264
Abstract :
We present a hybrid SLAM system for marine environments that combines cubic splines to represent the trajectories of dynamic objects, point features to represent stationary objects and an occupancy grid to represent land masses. This hybrid representation enables SLAM to be applied in environments with moving objects, where solutions using point features alone are computationally prohibitive or where dense objects e.g. landmasses can not be represented correctly using point features. Estimation is achieved using a sliding window framework with reversible data-association and reversible model-selection. Our main contributions are: (i) a hybrid representation of the environment; (ii) occupancy grid fusion is continually refined for the duration of the sliding window; (iii) the trajectories of dynamic objects are represented using cubic splines and (iv) radar scans are re-rendered at a sub-scan resolution to compensate for the egomotion during the scan acquisition period. We show that the continual refinement of the occupancy grid greatly improves the quality of the resultant map, leading to a better estimate of the egomotion and therefore better estimates of the trajectories of dynamic objects. We also demonstrate that the use of cubic splines to represent trajectories has two major advantages: (i) the state space is compressed i.e. many vehicle poses can be represented using a single spline section and (ii) the trajectory becomes continuous and so fusing information from asynchronous sensors running at multiple frequencies becomes trivial. The efficacy of our system is demonstrated using real marine radar data, showing that it can successfully estimate the positions/velocities of objects and landmasses observed during a typical voyage on a small boat.
Keywords :
SLAM (robots); marine control; motion control; position control; splines (mathematics); cubic spline; dynamic marine environment; dynamic object; egomotion; hybrid SLAM representation; landmasses; occupancy grid fusion; point feature; radar scan; reversible data-association; reversible model-selection; sliding window framework; Boats; Clustering methods; Clutter; Kinematics; Radar; Robotics and automation; Simultaneous localization and mapping; Trajectory; USA Councils; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509262
Filename :
5509262
Link To Document :
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