The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
International Journal of Robotics Research
D-SLAM: A Decoupled Solution to Simultaneous Localization and Mapping
International Journal of Robotics Research
Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
International Journal of Robotics Research
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Exactly Sparse Extended Information Filters for Feature-based SLAM
International Journal of Robotics Research
Metric embedding of view-graphs
Autonomous Robots
Morphological neural networks and vision based simultaneous localization and mapping
Integrated Computer-Aided Engineering - Artificial Neural Networks
Simultaneous Robot Localization and Mapping Based on a Visual Attention System
Attention in Cognitive Systems. Theories and Systems from an Interdisciplinary Viewpoint
A Metrics Review for Performance Evaluation on Assisted Wheelchair Navigation
IWANN '09 Proceedings of the 10th International Work-Conference on Artificial Neural Networks: Part I: Bio-Inspired Systems: Computational and Ambient Intelligence
Distributed Localization of Modular Robot Ensembles
International Journal of Robotics Research
Metric-topological maps from laser scans adjusted with incremental tree network optimizer
Robotics and Autonomous Systems
Hybrid inference for sensor network localization using a mobile robot
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Fast incremental square root information smoothing
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
On measuring the accuracy of SLAM algorithms
Autonomous Robots
A new efficiency-weighted strategy for continuous human/robot cooperation in navigation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Nonlinear constraint network optimization for efficient map learning
IEEE Transactions on Intelligent Transportation Systems
Real-time hierarchical outdoor SLAM based on stereovision and GPS fusion
IEEE Transactions on Intelligent Transportation Systems
Real-time hierarchical GPS aided visual SLAM on urban environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Finding good cycle constraints for large scale multi-robot SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Appearance-based loop detection from 3D laser data using the normal distributions transform
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Reduced state representation in delayed-state SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On the bending problem for large scale mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A parallel maximum likelihood algorithm for robot mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Large-scale loop-closing by fusing range data and aerial image
International Journal of Robotics and Automation
Morphological independence for landmark detection in vision based SLAM
IWANN'07 Proceedings of the 9th international work conference on Artificial neural networks
Information-based compact pose SLAM
IEEE Transactions on Robotics
Journal of Intelligent and Robotic Systems
Large scale graph-based SLAM using aerial images as prior information
Autonomous Robots
Power-SLAM: a linear-complexity, anytime algorithm for SLAM
International Journal of Robotics Research
Wheelchair collaborative control for disabled users navigating indoors
Artificial Intelligence in Medicine
iSAM2: Incremental smoothing and mapping using the Bayes tree
International Journal of Robotics Research
Treemap: an O(log n) algorithm for simultaneous localization and mapping
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
Laser and Radar Based Robotic Perception
Foundations and Trends in Robotics
Graph optimization with unstructured covariance: fast, accurate, linear approximation
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
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This paper addresses the problem of simultaneous localization and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from multigrid methods used for solving partial differential equations. The approach improves on the performance of previous relaxation methods for robot mapping, because it optimizes the map at multiple levels of resolution. The resulting algorithm has an update time that is linear in the number of estimated features for typical indoor environments, even when closing very large loops, and offers advantages in handling nonlinearities compared with other SLAM algorithms. Experimental comparisons with alternative algorithms using two well-known data sets and mapping results on a real robot are also presented.