Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating

Thumbnail Image
Files
Cunningham12ssrr.pdf (103.16 KB)
Author(s)
Cunningham, Alexander
Indelman, Vadim
Advisor(s)
Editor(s)
Associated Organization(s)
Organizational Unit
Series
Collections
Research Publications
Supplementary to:
Permanent Link
http://hdl.handle.net/1853/54823
Abstract
This report presents our recent and ongoing work developing a consistent decentralized data fusion approach for robust multi-robot SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our previous work by combining local and neighborhood information in a single, consistent augmented local map, without the overly conservative to avoiding information double-counting in the previous DDF-SAM approach. We introduce the anti-factor as a means to subtract information in graphical SLAM systems, and illustrate its use to both replace information in an incremental solver and to cancel out neighborhood information from shared summarized maps. Evaluations in a synthetic example environment demonstrate that we avoid double-counting information.
Sponsor
Date
2012-11
Extent
Resource Type
Text
Resource Subtype
Proceedings
Rights Statement
Rights URI