NDLI: Exploiting the Information at the Loop Closure in SLAM

Content Provider	IEEE Xplore Digital Library
Author	Martinelli, A. Siegwart, R.
Copyright Year	2007
Description	Author affiliation: Autonomous Syst. Lab., ETH Zurich (Martinelli, A.; Siegwart, R.)
Abstract	This paper presents two methods able to exploit the information at the loop closure in the SLAM problem. Both methods have three fundamental advantages. The first one is that to apply the loop closure constraint they do not require to compute any correlation among the features which are not observed simultaneously. The second advantage is that the loop closure constraint can be applied only once at the end (even after more than one loop) in a single step with low computational complexity. Hence, the computational complexity during the robot exploration is independent of the number of features. Finally, the third advantage is that the linearization does not affect the estimation process. This especially holds for the second method, which is based on the Levenberg-Marquardt algorithm. The first method is based on the extended Kalman filter. Simulations show that these approaches significantly outperform the conventional EKF based SLAM both in the computational cost and in the map precision.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	2055
Ending Page	2060
File Size	433877
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363624
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Filters Computational complexity Mobile robots State estimation Laboratories Robotics and automation Computational modeling Computational efficiency Layout
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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