On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Tracking and data association
Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Incorporation of Delayed Decision Making into Stochastic Mapping
ISER '00 Experimental Robotics VII
Relocalisation by Partial Map Matching
Selected Papers from the International Workshop on Sensor Based Intelligent Robots
Atlas: a framework for large scale automated mapping and localization
Atlas: a framework for large scale automated mapping and localization
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Exactly Sparse Delayed-State Filters for View-Based SLAM
IEEE Transactions on Robotics
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Keypoint design and evaluation for place recognition in 2D lidar maps
Robotics and Autonomous Systems
Effective maximum likelihood grid map withconflict evaluation filter using sonar sensors
IEEE Transactions on Robotics
Learning to detect loop closure from range data
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Continuous 3D scan-matching with a spinning 2D laser
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Trajectory-oriented EKF-SLAM using the fourier-mellin transform applied to microwave radar images
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Classification and Semantic Mapping of Urban Environments
International Journal of Robotics Research
Appearance-only SLAM at large scale with FAB-MAP 2.0
International Journal of Robotics Research
Learning to close loops from range data
International Journal of Robotics Research
CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory
International Journal of Robotics Research
How the Location of the Range Sensor Affects EKF-based Localization
Journal of Intelligent and Robotic Systems
Real time egomotion of a nonholonomic vehicle using LIDAR measurements
Journal of Field Robotics
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Reliable data association techniques for simultaneous localization and mapping (SLAM) are necessary for the generation of large-scale maps in unstructured outdoor environments. Data association techniques are required at two levels: the local level represents the inner loop of the mapping algorithm, and the global level where newly mapped areas are matched to previously mapped areas to detect repeated coverage and close loops. Local map building is achieved using a robust iterative scan matching technique incorporated into an extended Kalman filter where the state consists of the current pose and previous poses sampled periodically and at a fixed lag from the current time. The introduction of states at a fixed time lag significantly reduces the growth of errors in the location estimate and the resultant map. For global matching, we enhance existing histogram cross-correlation techniques, introducing entropy sequences of projection histograms and an exhaustive correlation approach for reliable matching in unstructured environments. This enables loop closure without depending on prior knowledge of map alignment. These data association techniques are incorporated into the Atlas SLAM framework, enabling the generation of accurate two-dimensional laser maps over tens of kilometers in challenging outdoor environments.