Title:
Graphical SLAM for Outdoor Applications
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 |