NDLI: Improving SLAM with Drift Integration

Content Provider	IEEE Xplore Digital Library
Author	Bresson, G. Aufrere, R. Chapuis, R.
Copyright Year	2015
Description	Author affiliation: Inst. VEDECOM, Versailles, France (Bresson, G.) \|\| Inst. Pascal, Univ. Blaise Pascal - Aubiere, Aubiere, France (Aufrere, R.; Chapuis, R.)
Abstract	Localization without prior knowledge can be a difficult task for a vehicle. An answer to this problematic lies in the Simultaneous Localization And Mapping (SLAM) approach where a map of the surroundings is built while simultaneously being used for localization purposes. However, SLAM algorithms tend to drift over time, making the localization inconsistent. In this paper, we propose to model the drift as a localization bias and to integrate it in a general architecture. The latter allows any feature-based SLAM algorithm to be used while taking advantage of the drift integration. Based on previous works, we extend the bias concept and propose a new architecture which drastically improves the performance of our method, both in terms of computational power and memory required. We validate this framework on real data with different scenarios. We show that taking into account the drift allows us to maintain consistency and improve the localization accuracy with almost no additional cost.
Starting Page	2700
Ending Page	2706
File Size	425362
Page Count	7
File Format	PDF
ISSN	21530017
e-ISBN	9781467365963
DOI	10.1109/ITSC.2015.434
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Simultaneous localization and mapping Trajectory Computer architecture Uncertainty Mathematical model
Content Type	Text
Resource Type	Article

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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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