Title:
Information-based Reduced Landmark SLAM
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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