Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
International Journal of Robotics Research
Map Matching and Data Association for Large-Scale Two-dimensional Laser Scan-based SLAM
International Journal of Robotics Research
A probabilistic framework for entire WSN localization using a mobile robot
Robotics and Autonomous Systems
Proceedings of the 2008 conference on Artificial Intelligence Research and Development: Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence
Efficient data association for view based SLAM using connected dominating sets
Robotics and Autonomous Systems
Vision-aided inertial navigation for spacecraft entry, descent, and landing
IEEE Transactions on Robotics
Extending the limits of feature-based SLAM with B-splines
IEEE Transactions on Robotics
On achievable accuracy for pose tracking
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Sparsing of information matrix for practical application of a robot's slam
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Delayed-state information filter for cooperative decentralized tracking
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A relative frame representation for fixed-time bundle adjustment in SFM
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
SLAM in O(log n) with the combined Kalman - information filter
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
3D mapping for urban service robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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
Event-driven loop closure in multi-robot mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Pose-graph visual SLAM with geometric model selection for autonomous underwater ship hull inspection
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Information-based compact pose SLAM
IEEE Transactions on Robotics
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 4
SLAM in O(logn) with the Combined Kalman-Information Filter
Robotics and Autonomous Systems
Three 2D-warping schemes for visual robot navigation
Autonomous Robots
On optimal dynamic sequential search for matching in real- time machine vision
IEEE Transactions on Image Processing
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
Safety, Security, and Rescue Missions with an Unmanned Aerial Vehicle (UAV)
Journal of Intelligent and Robotic Systems
Learning to close loops from range data
International Journal of Robotics Research
Laser and Radar Based Robotic Perception
Foundations and Trends in Robotics
Information-theoretic compression of pose graphs for laser-based SLAM
International Journal of Robotics Research
Cleaning robot navigation using panoramic views and particle clouds as landmarks
Robotics and Autonomous Systems
Hi-index | 0.00 |
This paper reports the novel insight that the simultaneous localization and mapping (SLAM) information matrix is exactly sparse in a delayed-state framework. Such a framework is used in view-based representations of the environment that rely upon scan-matching raw sensor data to obtain virtual observations of robot motion with respect to a place it has previously been. The exact sparseness of the delayed-state information matrix is in contrast to other recent feature-based SLAM information algorithms, such as sparse extended information filter or thin junction-tree filter, since these methods have to make approximations in order to force the feature-based SLAM information matrix to be sparse. The benefit of the exact sparsity of the delayed-state framework is that it allows one to take advantage of the information space parameterization without incurring any sparse approximation error. Therefore, it can produce equivalent results to the full-covariance solution. The approach is validated experimentally using monocular imagery for two datasets: a test-tank experiment with ground truth, and a remotely operated vehicle survey of the RMS Titanic