On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
A stochastic map for uncertain spatial relationships
Proceedings of the 4th international symposium on Robotics Research
Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Dynamic map building for an autonomous mobile robot
International Journal of Robotics Research
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Sparse QR factorization in MATLAB
ACM Transactions on Mathematical Software (TOMS)
An Approximate Minimum Degree Ordering Algorithm
SIAM Journal on Matrix Analysis and Applications
Matrix computations (3rd ed.)
Modifying a Sparse Cholesky Factorization
SIAM Journal on Matrix Analysis and Applications
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Probabilistic Networks and Expert Systems
Probabilistic Networks and Expert Systems
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Fast, On-Line Learning of Globally Consistent Maps
Autonomous Robots
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
An Experimental System for Incremental Environment Modelling by an Autonomous Mobile Robot
The First International Symposium on Experimental Robotics I
Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor
ISER '00 Experimental Robotics VII
Distributed Multifrontal Factorization Using Clique Trees
Proceedings of the Fifth SIAM Conference on Parallel Processing for Scientific Computing
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Exploring artificial intelligence in the new millennium
A column approximate minimum degree ordering algorithm
ACM Transactions on Mathematical Software (TOMS)
Numerical Methods for Unconstrained Optimization and Nonlinear Equations (Classics in Applied Mathematics, 16)
Algorithm 849: A concise sparse Cholesky factorization package
ACM Transactions on Mathematical Software (TOMS)
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Consistent, convergent, and constant-time SLAM
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Thin junction tree filters for simultaneous localization and mapping
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
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
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Factor graphs and the sum-product algorithm
IEEE Transactions on Information Theory
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Trajectory Optimization using Reinforcement Learning for Map Exploration
International Journal of Robotics Research
Map Building by Sequential Estimation of Inter-feature Distances
PRICAI '08 Proceedings of the 10th Pacific Rim International Conference on Artificial Intelligence: Trends in Artificial Intelligence
Hybrid inference for sensor network localization using a mobile robot
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
Covariance recovery from a square root information matrix for data association
Robotics and Autonomous Systems
Real-time hierarchical outdoor SLAM based on stereovision and GPS fusion
IEEE Transactions on Intelligent Transportation Systems
CI-graph: an efficient approach for large scale SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
CI-graph: an efficient approach for large scale SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Inferring a probability distribution function for the pose of a sensor network using a mobile robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Probabilistic structure matching for visual SLAM with a multi-camera rig
Computer Vision and Image Understanding
Reduced state representation in delayed-state SLAM
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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
Normalized graph cuts for visual SLAM
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
Information-based compact pose SLAM
IEEE Transactions on Robotics
Real-time hierarchical stereo Visual SLAM in large-scale environments
Robotics and Autonomous Systems
Map building without localization by estimation of inter-feature distances
Intelligent Data Analysis - Artificial Intelligence
Algorithms and theory of computation handbook
Pure topological mapping in mobile robotics
IEEE Transactions on Robotics
Robotics and Autonomous Systems
Power-SLAM: a linear-complexity, anytime algorithm for SLAM
International Journal of Robotics Research
Smoothing-based submap merging in large area SLAM
SCIA'11 Proceedings of the 17th Scandinavian conference on Image analysis
iSAM2: Incremental smoothing and mapping using the Bayes tree
International Journal of Robotics Research
Laser and Radar Based Robotic Perception
Foundations and Trends in Robotics
Progress toward multi-robot reconnaissance and the MAGIC 2010 competition
Journal of Field Robotics
Generalized subgraph preconditioners for large-scale bundle adjustment
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Exploration and mapping with autonomous robot teams
Communications of the ACM
How to localize humanoids with a single camera?
Autonomous Robots
A review of path planning and mapping technologies for autonomous mobile robot systems
Proceedings of the 5th ACM COMPUTE Conference: Intelligent & scalable system technologies
Inference on networks of mixtures for robust robot mapping
International Journal of Robotics Research
Real-time 6-DOF multi-session visual SLAM over large-scale environments
Robotics and Autonomous Systems
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Solving the SLAM (simultaneous localization and mapping) problem is one way to enable a robot to explore, map, and navigate in a previously unknown environment. Smoothing approaches have been investigated as a viable alternative to extended Kalman filter (EKF)-based solutions to the problem. In particular, approaches have been looked at that factorize either the associated information matrix or the measurement Jacobian into square root form. Such techniques have several significant advantages over the EKF: they are faster yet exact; they can be used in either batch or incremental mode; are better equipped to deal with non-linear process and measurement models; and yield the entire robot trajectory, at lower cost for a large class of SLAM problems. In addition, in an indirect but dramatic way, column ordering heuristics automatically exploit the locality inherent in the geographic nature of the SLAM problem. This paper presents the theory underlying these methods, along with an interpretation of factorization in terms of the graphical model associated with the SLAM problem. Both simulation results and actual SLAM experiments in large-scale environments are presented that underscore the potential of these methods as an alternative to EKF-based approaches.