Continuous appearance-based trajectory SLAM
Maddern, William, Milford, Michael, & Wyeth, Gordon (2011) Continuous appearance-based trajectory SLAM. In Bicchi, Antonio (Ed.) Proceedings of the 2011 IEEE International Conference on Robots and Automation, IEEE (Institute of Electrical and Electronics Engineers), Shanghai International Convention Center, Shanghai, pp. 3595-3600.
This paper describes a novel probabilistic approach to incorporating odometric information into appearance-based SLAM systems, without performing metric map construction or calculating relative feature geometry. The proposed system, dubbed Continuous Appearance-based Trajectory SLAM (CAT-SLAM), represents location as a probability distribution along a trajectory, and represents appearance continuously over the trajectory rather than at discrete locations. The distribution is evaluated using a Rao-Blackwellised particle filter, which weights particles based on local appearance and odometric similarity and explicitly models both the likelihood of revisiting previous locations and visiting new locations. A modified resampling scheme counters particle deprivation and allows loop closure updates to be performed in constant time regardless of map size. We compare the performance of CAT-SLAM to FAB-MAP (an appearance-only SLAM algorithm) in an outdoor environment, demonstrating a threefold increase in the number of correct loop closures detected by CAT-SLAM.
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|Item Type:||Conference Paper|
|Keywords:||SLAM, Appearance-based Navigation, Place Recognition, Robotics, Trajectory, Simultaneous Localization and Mapping, Measurement|
|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 Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2011 IEEE & The Authors|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||21 Mar 2011 08:21|
|Last Modified:||15 Sep 2011 23:06|
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