On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Probabilistic Reasoning in Intelligent Systems: Networks of Plausible Inference
Probabilistic Reasoning in Intelligent Systems: Networks of Plausible Inference
Probabilistic Networks and Expert Systems
Probabilistic Networks and Expert Systems
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Fast, On-Line Learning of Globally Consistent Maps
Autonomous Robots
An Experimental System for Incremental Environment Modelling by an Autonomous Mobile Robot
The First International Symposium on Experimental Robotics I
Visually Realistic Mapping of a Planar Environment with Stereo
ISER '00 Experimental Robotics VII
Navigation mobiler Roboter mit Laserscans
Autonome Mobile Systeme 1997, 13. Fachgespräch
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Optimal Structure from Motion: Local Ambiguities and Global Estimates
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Sensor Based Creation of Indoor Virtual Environment Models
VSMM '97 Proceedings of the 1997 International Conference on Virtual Systems and MultiMedia
3D Reconstruction of Environments for Virtual Collaboration
WACV '98 Proceedings of the 4th IEEE Workshop on Applications of Computer Vision (WACV'98)
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Thin junction tree filters for simultaneous localization and mapping
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
The digital michelangelo project
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Using covariance intersection for SLAM
Robotics and Autonomous Systems
Trajectory Optimization using Reinforcement Learning for Map Exploration
International Journal of Robotics Research
A probabilistic framework for entire WSN localization using a mobile robot
Robotics and Autonomous Systems
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Recognizing places using spectrally clustered local matches
Robotics and Autonomous Systems
A nonlinear set membership approach for the localization and map building of underwater robots
IEEE Transactions on Robotics
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
Journal of Intelligent and Robotic Systems
Laser-based geometric modeling using cooperative multiple mobile robots
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
3D mapping with multi-resolution occupied voxel lists
Autonomous Robots
Simultaneous localization and mapping in dense environments
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Robust 3D-mapping with time-of-flight cameras
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
International Journal of Robotics Research
Hybrid robot control and SLAM for persistent navigation and mapping
Robotics and Autonomous Systems
Persistent Navigation and Mapping using a Biologically Inspired SLAM System
International Journal of Robotics Research
Set-membership localization with probabilistic errors
Robotics and Autonomous Systems
A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps
International Journal of Robotics Research
CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory
International Journal of Robotics Research
Robot navigation with weak sensors
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Three-dimensional SLAM for mapping planetary work site environments
Journal of Field Robotics
Encounter based sensor tracking
Proceedings of the thirteenth ACM international symposium on Mobile Ad Hoc Networking and Computing
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
Robust offline topological map estimation using visual loop closures
Proceedings of the 6th International Conference on PErvasive Technologies Related to Assistive Environments
Analyzing growing plants from 4D point cloud data
ACM Transactions on Graphics (TOG)
A MapReduce-based indoor visual localization system using affine invariant features
Computers and Electrical Engineering
Localization and navigation of the CoBots over long-term deployments
International Journal of Robotics Research
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This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization techniques to SLAM problems. It transforms the SLAM posterior into a graphical network, representing the log-likelihood of the data. It then reduces this graph using variable elimination techniques, arriving at a lower-dimensional problems that is then solved using conventional optimization techniques. As a result, GraphSLAM can generate maps with 108 or more features. The paper discusses a greedy algorithm for data association, and presents results for SLAM in urban environments with occasional GPS measurements.