NDLI: Hierarchical optimization on manifolds for online 2D and 3D mapping

Content Provider	IEEE Xplore Digital Library
Author	Grisetti, G. Kummerle, R. Stachniss, C. Frese, U. Hertzberg, C.
Copyright Year	2010
Description	Author affiliation: University of Bremen, Germany (Frese, U.; Hertzberg, C.) \|\| University of Freiburg, Germany (Grisetti, G.; Kummerle, R.; Stachniss, C.)
Abstract	In this paper, we present a new hierarchical optimization solution to the graph-based simultaneous localization and mapping (SLAM) problem. During online mapping, the approach corrects only the coarse structure of the scene and not the overall map. In this way, only updates for the parts of the map that need to be considered for making data associations are carried out. The hierarchical approach provides accurate non-linear map estimates while being highly efficient. Our error minimization approach exploits the manifold structure of the underlying space. In this way, it avoids singularities in the state space parameterization. The overall approach is accurate, efficient, designed for online operation, overcomes singularities, provides a hierarchical representation, and outperforms a series of state-of-the-art methods.
Starting Page	273
Ending Page	278
File Size	1261507
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509407
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Robots Newton method Least squares methods Recursive estimation State-space methods Testing Robotics and automation USA Councils 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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Iterated filters for bearing-only SLAM

Accelerated appearance-only SLAM

Lazy localization using the Frozen-Time Smoother

Improving indoor navigation of autonomous robots by an explicit representation of doors

On combining visual SLAM and visual odometry

Visual Servoing by Optimization of a 2D/3D Hybrid Objective Function

Real-time 3D model-based tracking using edge and keypoint features for robotic manipulation

Online constraint network optimization for efficient maximum likelihood map learning

Probabilistic mapping for mobile robots using spatial correlation models

Hierarchical optimization on manifolds for online 2D and 3D mapping

Similar Documents

Iterated filters for bearing-only SLAM

Accelerated appearance-only SLAM

Lazy localization using the Frozen-Time Smoother

Improving indoor navigation of autonomous robots by an explicit representation of doors

On combining visual SLAM and visual odometry

Visual Servoing by Optimization of a 2D/3D Hybrid Objective Function

Real-time 3D model-based tracking using edge and keypoint features for robotic manipulation

Online constraint network optimization for efficient maximum likelihood map learning

Probabilistic mapping for mobile robots using spatial correlation models

Hierarchical optimization on manifolds for online 2D and 3D mapping