NDLI: Linear SLAM: A linear solution to the feature-based and pose graph SLAM based on submap joining

Content Provider	IEEE Xplore Digital Library
Author	Liang Zhao Shoudong Huang Dissanayake, G.
Copyright Year	2013
Description	Author affiliation: Centre for Autonomous Syst., Univ. of Technol., Sydney, NSW, Australia (Liang Zhao; Shoudong Huang; Dissanayake, G.)
Abstract	This paper presents a strategy for large-scale SLAM through solving a sequence of linear least squares problems. The algorithm is based on submap joining where submaps are built using any existing SLAM technique. It is demonstrated that if submaps coordinate frames are judiciously selected, the least squares objective function for joining two submaps becomes a quadratic function of the state vector. Therefore, a linear solution to large-scale SLAM that requires joining a number of local submaps either sequentially or in a more efficient Divide and Conquer manner, can be obtained. The proposed Linear SLAM technique is applicable to both feature-based and pose graph SLAM, in two and three dimensions, and does not require any assumption on the character of the covariance matrices or an initial guess of the state vector. Although this algorithm is an approximation to the optimal full nonlinear least squares SLAM, simulations and experiments using publicly available datasets in 2D and 3D show that Linear SLAM produces results that are very close to the best solutions that can be obtained using full nonlinear optimization started from an accurate initial value. The C/C++ and MATLAB source codes for the proposed algorithm are available on OpenSLAM.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	24
Ending Page	30
File Size	1973324
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696327
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Vectors Optimization Three-dimensional displays Robot kinematics Linear programming
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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