An Introduction to the Conjugate Gradient Method Without the Agonizing Pain
An Introduction to the Conjugate Gradient Method Without the Agonizing Pain
A Discussion of Simultaneous Localization and Mapping
Autonomous Robots
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
3D mapping with multi-resolution occupied voxel lists
Autonomous Robots
Information-based compact pose SLAM
IEEE Transactions on Robotics
Robotics and Autonomous Systems
Laser and Radar Based Robotic Perception
Foundations and Trends in Robotics
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The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated processes: D-SLAM (decoupled SLAM). It is shown that SLAM with a range and bearing sensor in an environment populated with point features can be decoupled into solving a nonlinear static estimation problem for mapping and a low-dimensional dynamic estimation problem for localization. This is achieved by transforming the measurement vector into two parts: one containing information relating features in the map and another with information relating the map and robot. It is shown that the new formulation results in an exactly sparse information matrix for mapping when it is solved using an Extended Information Filter (EIF).Thus a significant saving in the computational effort can be achieved for large-scale problems by exploiting the special properties of sparse matrices. An important feature of D-SLAM is that the correlation among features in the map are still kept and it is demonstrated that the uncertainty of the feature estimates monotonically decreases. The algorithm is illustrated and evaluated through computer simulations and experiments.