A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs
Tully, Stephen, Kantor, George, Choset, Howie, & Werner, Felix (2009) A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 11-15, October, 2009, St. Louis, MO, USA. (In Press)
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Abstract
We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a probabilistically grounded multi-hypothesis technique that relies on the incremental construction of a map/state hypothesis tree. Loop closing is introduced automatically within the tree expansion, and likely hypotheses are chosen based on their posterior probability after a sequence of sensor measurements. Careful pruning of the hypothesis tree keeps the growing number of hypotheses under control and a recursive formulation reduces storage and computational costs.
Experiments are used to validate the approach.
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| ID Code: | 26584 |
|---|---|
| Item Type: | Conference Paper |
| Additional Information: | An open access copy of this article can be accessed from the journal's webpage. See Official URL above. |
| Keywords: | Topological SLAM, Loop closing, Multi hypotheses |
| Subjects: | Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101) |
| Divisions: | Past > QUT Faculties & Divisions > Faculty of Science and Technology |
| Copyright Owner: | Copyright 2009 IEEE. |
| Deposited On: | 03 Aug 2009 14:14 |
| Last Modified: | 09 Jun 2010 23:56 |
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