Title:
Information-based Reduced Landmark SLAM

dc.contributor.author Choudhary, Siddharth
dc.contributor.author Indelman, Vadim
dc.contributor.author Christensen, Henrik I.
dc.contributor.author Dellaert, Frank
dc.contributor.corporatename Georgia Institute of Technology. Institute for Robotics and Intelligent Machines en_US
dc.contributor.corporatename Georgia Institute of Technology. College of Computing en_US
dc.contributor.corporatename Israel Institute of Technology. Faculty of Aerospace Engineering
dc.date.accessioned 2015-06-16T20:02:23Z
dc.date.available 2015-06-16T20:02:23Z
dc.date.issued 2015-05
dc.description ©2015 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 Presented at the IEEE International Conference on Robotics and Automation (ICRA 2015), May 26-30 2015, Seattle, Washington.
dc.description.abstract In this paper, we present an information-based approach to select a reduced number of landmarks and poses for a robot to localize itself and simultaneously build an accurate map. We develop an information theoretic algorithm to efficiently reduce the number of landmarks and poses in a SLAM estimate without compromising the accuracy of the estimated trajectory. We also propose an incremental version of the reduction algorithm which can be used in SLAM framework resulting in information based reduced landmark SLAM. The results of reduced landmark based SLAM algorithm are shown on Victoria park dataset and a Synthetic dataset and are compared with standard graph SLAM (SAM [6]) algorithm. We demonstrate a reduction of 40-50% in the number of landmarks and around 55% in the number of poses with minimal estimation error as compared to standard SLAM algorithm. en_US
dc.embargo.terms null en_US
dc.identifier.citation Choudhary, S., Indelman, V., Christensen, H. I., & Dellaert, F. (2015). Information-based Reduced Landmark SLAM". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2015), May 26-30, 2015. en_US
dc.identifier.uri http://hdl.handle.net/1853/53654
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 Localization en_US
dc.subject Mapping en_US
dc.subject Simultaneous localization and mapping en_US
dc.title Information-based Reduced Landmark SLAM en_US
dc.type Text
dc.type.genre Post-print
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Christensen, Henrik I.
local.contributor.author Dellaert, Frank
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
relation.isAuthorOfPublication afdc727f-2705-4744-945f-e7d414f2212b
relation.isAuthorOfPublication dac80074-d9d8-4358-b6eb-397d95bdc868
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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