Title:
Graphical SLAM for Outdoor Applications

dc.contributor.author Folkesson, John
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.date.accessioned 2011-03-16T14:32:49Z
dc.date.available 2011-03-16T14:32:49Z
dc.date.issued 2007-02
dc.description Digital Object Identifier: 10.1002/rob.20174 en_US
dc.description Copyright © 2007 Wiley Periodicals, Inc., A Wiley Company
dc.description This is the pre-peer reviewed version of the following article: Folkesson, J. and Christensen, H. I. (2007), Graphical SLAM for Outdoor Applications. Journal of Field Robotics, 24: 51–70. doi: 10.1002/rob.20174 , which has been published in final form at doi: 10.1002/rob.20174.
dc.description.abstract Application of SLAM outdoors is challenged by complexity, handling of non-linearities and flexible integration of a diverse set of features. A graphical approach to SLAM is introduced that enables flexible data-association. The method allows for handling of non-linearities. The method also enables easy introduction of global constraints. Computational issues can be addressed as a graph reduction problem. A complete framework for graphical based SLAM is presented. The framework is demonstrated for a number of outdoor experiments using an ATRV robot equipped with a SICK laser scanner and a CrossBow Inertial Unit. The experiments include handling of large outdoor environments with loop closing. The presented system operates at 5Hz on a 800 MHz computer. en_US
dc.identifier.citation Folkesson, J., and Christensen, H. I. Graphical SLAM for Outdoor Applications. Journal of Field Robotics 24, 1-2 (Feb. 2007), 51-70 en_US
dc.identifier.doi 10.1002/rob.20174
dc.identifier.issn 1556-4959
dc.identifier.uri http://hdl.handle.net/1853/37929
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original John Wiley & Sons
dc.subject Graphical SLAM en_US
dc.subject Mobile systems en_US
dc.subject Simultaneous Localization and Mapping (SLAM) en_US
dc.title Graphical SLAM for Outdoor Applications 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
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