A multilevel relaxation algorithm for simultaneous localization and mapping

Frese, U. and Larsson, P. and Duckett, Tom (2005) A multilevel relaxation algorithm for simultaneous localization and mapping. Robotics, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on] , 21 (2). pp. 196-207. ISSN 1552-3098

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Full text URL: http://dx.doi.org/10.1109/TRO.2004.839220

Abstract

This paper addresses the problem of simultaneous localization and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from multigrid methods used for solving partial differential equations. The approach improves on the performance of previous relaxation methods for robot mapping, because it optimizes the map at multiple levels of resolution. The resulting algorithm has an update time that is linear in the number of estimated features for typical indoor environments, even when closing very large loops, and offers advantages in handling nonlinearities compared with other SLAM algorithms. Experimental comparisons with alternative algorithms using two well-known data sets and mapping results on a real robot are also presented.

Item Type:Article
Additional Information:This paper addresses the problem of simultaneous localization and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from multigrid methods used for solving partial differential equations. The approach improves on the performance of previous relaxation methods for robot mapping, because it optimizes the map at multiple levels of resolution. The resulting algorithm has an update time that is linear in the number of estimated features for typical indoor environments, even when closing very large loops, and offers advantages in handling nonlinearities compared with other SLAM algorithms. Experimental comparisons with alternative algorithms using two well-known data sets and mapping results on a real robot are also presented.
Keywords:Computer vision, Mapping, Robotics
Subjects:H Engineering > H670 Robotics and Cybernetics
G Mathematical and Computer Sciences > G400 Computer Science
G Mathematical and Computer Sciences > G440 Human-computer Interaction
Divisions:College of Science > School of Computer Science
ID Code:1203
Deposited By: Bev Jones
Deposited On:20 Sep 2007
Last Modified:18 Jul 2011 16:17

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