NDLI: Gamma-SLAM: Using stereo vision and variance grid maps for SLAM in unstructured environments

Content Provider	IEEE Xplore Digital Library
Author	Marks, T.K. Howard, A. Bajracharya, M. Cottrell, G.W. Matthies, L.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Sci. & Eng., Univ. of California at San Diego, La Jolla, CA (Marks, T.K.; Howard, A.; Bajracharya, M.; Cottrell, G.W.; Matthies, L.)
Abstract	We introduce a new method for stereo visual SLAM (simultaneous localization and mapping) that works in unstructured, outdoor environments. Unlike other grid-based SLAM algorithms, which use occupancy grid maps, our algorithm uses a new mapping technique that maintains a posterior distribution over the height variance in each cell. This idea was motivated by our experience with outdoor navigation tasks, which has shown height variance to be a useful measure of traversability. To obtain a joint posterior over poses and maps, we use a Rao-Blackwellized particle filter: the pose distribution is estimated using a particle filter, and each particle has its own map that is obtained through exact filtering conditioned on the particle's pose. Visual odometry provides good proposal distributions for the particle pose. In the analytical (exact) filter for the map, we update the sufficient statistics of a gamma distribution over the precision (inverse variance) of heights in each grid cell. We verify the algorithm's accuracy on two outdoor courses by comparing with ground truth data obtained using electronic surveying equipment. In addition, we solve for the optimal transformation from the SLAM map to georeferenced coordinates, based on a noisy GPS signal. We derive an online version of this alignment process, which can be used to maintain a running estimate of the robot's global position that is much more accurate than the GPS readings.
Starting Page	3717
Ending Page	3724
File Size	1663918
Page Count	8
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543781
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stereo vision Simultaneous localization and mapping Particle filters Global Positioning System Navigation Filtering Proposals Analysis of variance Statistical analysis Statistical distributions
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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