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.

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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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8 citations in Scopus
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6 citations in Web of Science®

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240 since deposited on 03 Aug 2009
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ID Code: 26584
Item Type: Conference Paper
Refereed: Yes
Keywords: Topological SLAM, Loop closing, Multi hypotheses
DOI: 10.1109/IROS.2009.5354255
ISBN: 9781424438044
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 04:14
Last Modified: 27 May 2016 01:01

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