Title :
Closing a Million-Landmarks Loop
Author :
Frese, Udo ; Schroder, Lutz
Author_Institution :
Fachbereich Mathematik und Informatik, Bremen Univ.
Abstract :
We present an improved version of the treemap SLAM algorithm which uses Cholesky factors for representing Gaussians and a hierarchical tree partitioning algorithm derived from the established Kernighan-Lin heuristic for graph bisection. We demonstrate the algorithm´s efficiency by mapping a simulated building with 1032271 landmarks. In the end, we close a million-landmarks loop in 21 ms, providing an estimate for ap10000 selected landmarks close to the robot, or in 442 ms for computing a full estimate
Keywords :
SLAM (robots); path planning; trees (mathematics); 21 ms; 442 ms; graph bisection; hierarchical tree partitioning algorithm; million-landmarks loop; treemap SLAM algorithm; Cognition; Computational modeling; Covariance matrix; Gaussian processes; Intelligent robots; Partitioning algorithms; Simultaneous localization and mapping; State estimation; Tree graphs; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282531
