Title:
Modern MAP Inference Methods for Accurate and Fast Occupancy Grid Mapping on Higher Order Factor Graphs
Modern MAP Inference Methods for Accurate and Fast Occupancy Grid Mapping on Higher Order Factor Graphs
Author(s)
Dhiman, Vikas
Kundu, Abhijit
Dellaert, Frank
Corso, Jason J.
Kundu, Abhijit
Dellaert, Frank
Corso, Jason J.
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Abstract
Using the inverse sensor model has been popular
in occupancy grid mapping. However, it is widely known
that applying the inverse sensor model to mapping requires
certain assumptions that are not necessarily true. Even the
works that use forward sensor models have relied on methods
like expectation maximization or Gibbs sampling which have
been succeeded by more effective methods of maximum a
posteriori (MAP) inference over graphical models. In this
paper, we propose the use of modern MAP inference methods
along with the forward sensor model. Our implementation and
experimental results demonstrate that these modern inference
methods deliver more accurate maps more efficiently than
previously used methods.
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Date Issued
2014
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Text
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Proceedings