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)
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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|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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