NDLI: Efficient Sparse Pose Adjustment for 2D mapping

Content Provider	IEEE Xplore Digital Library
Author	Konolige, K. Grisetti, G. Kümmerle, R. Burgard, W. Limketkai, B. Vincent, R.
Copyright Year	2010
Description	Author affiliation: Willow Garage, Menlo Park, CA 94025, USA (Konolige, K.) \|\| SRI International, Menlo Park, CA 94025, USA (Limketkai, B.; Vincent, R.) \|\| University of Freiburg Germany (Grisetti, G.; Kümmerle, R.; Burgard, W.)
Abstract	Pose graphs have become a popular representation for solving the simultaneous localization and mapping (SLAM) problem. A pose graph is a set of robot poses connected by nonlinear constraints obtained from observations of features common to nearby poses. Optimizing large pose graphs has been a bottleneck for mobile robots, since the computation time of direct nonlinear optimization can grow cubically with the size of the graph. In this paper, we propose an efficient method for constructing and solving the linear subproblem, which is the bottleneck of these direct methods. We compare our method, called Sparse Pose Adjustment (SPA), with competing indirect methods, and show that it outperforms them in terms of convergence speed and accuracy. We demonstrate its effectiveness on a large set of indoor real-world maps, and a very large simulated dataset. Open-source implementations in C++, and the datasets, are publicly available.
Starting Page	22
Ending Page	29
File Size	2355051
Page Count	8
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649043
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sparse matrices Simultaneous localization and mapping Optimization Linear systems Robustness
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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