Title:
The M-Space Feature Representation for SLAM
The M-Space Feature Representation for SLAM
| dc.contributor.author | Folkesson, John | |
| dc.contributor.author | Jensfelt, Patric | |
| dc.contributor.author | Christensen, Henrik I. | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
| dc.contributor.corporatename | Massachusetts Institute of Technology. Dept. of Mechanical Engineering | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.contributor.corporatename | Kungl. Tekniska Högskolan. Centrum för Autonoma System | |
| dc.date.accessioned | 2011-03-16T19:39:37Z | |
| dc.date.available | 2011-03-16T19:39:37Z | |
| dc.date.issued | 2007-10 | |
| dc.description | (c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Digital Object Identifier : 10.1109/TRO.2007.903807 | |
| dc.description.abstract | In this paper, a new feature representation for simultaneous localization and mapping (SLAM) is discussed. The representation addresses feature symmetries and constraints explicitly to make the basic model numerically robust. In previous SLAM work, complete initialization of features is typically performed prior to introduction of a new feature into the map. This results in delayed use of new data. To allow early use of sensory data, the new feature representation addresses the use of features that initially have been partially observed. This is achieved by explicitly modelling the subspace of a feature that has been observed. In addition to accounting for the special properties of each feature type, the commonalities can be exploited in the new representation to create a feature framework that allows for interchanging of SLAM algorithms, sensor and features. Experimental results are presented using a low-cost web-cam, a laser range scanner, and combinations thereof. | en_US |
| dc.identifier.citation | Folkesson, J., Jensfelt, P., and Christensen, H. I. The M-space feature representation for SLAM. IEEE Transaction on Robotics 23, 5 (oct 2007), 106-115. | en_US |
| dc.identifier.issn | 1552-3098 | |
| dc.identifier.uri | http://hdl.handle.net/1853/37941 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Feature representation | en_US |
| dc.subject | Localization | en_US |
| dc.subject | Mapping | en_US |
| dc.subject | Mobile robots | en_US |
| dc.subject | Simultaneous Localization and Mapping (SLAM) | en_US |
| dc.subject | Navigation | en_US |
| dc.title | The M-Space Feature Representation for SLAM | en_US |
| dc.type | Text | |
| dc.type.genre | Article | |
| dspace.entity.type | Publication | |
| local.contributor.author | Christensen, Henrik I. | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | afdc727f-2705-4744-945f-e7d414f2212b | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |