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CAT-SLAM : probabilistic localisation and mapping using a continuous appearance-based trajectory

Maddern, William, Milford, Michael, & Wyeth, Gordon F. (2012) CAT-SLAM : probabilistic localisation and mapping using a continuous appearance-based trajectory. The International Journal of Robotics Research, 31(4), pp. 429-451.

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Abstract

This paper describes a new system, dubbed Continuous Appearance-based Trajectory Simultaneous Localisation and Mapping (CAT-SLAM), which augments sequential appearance-based place recognition with local metric pose filtering to improve the frequency and reliability of appearance-based loop closure. As in other approaches to appearance-based mapping, loop closure is performed without calculating global feature geometry or performing 3D map construction. Loop-closure filtering uses a probabilistic distribution of possible loop closures along the robot’s previous trajectory, which is represented by a linked list of previously visited locations linked by odometric information. Sequential appearance-based place recognition and local metric pose filtering are evaluated simultaneously using a Rao–Blackwellised particle filter, which weights particles based on appearance matching over sequential frames and the similarity of robot motion along the trajectory. The particle filter explicitly models both the likelihood of revisiting previous locations and exploring new locations. A modified resampling scheme counters particle deprivation and allows loop-closure updates to be performed in constant time for a given environment. We compare the performance of CAT-SLAM with FAB-MAP (a state-of-the-art appearance-only SLAM algorithm) using multiple real-world datasets, demonstrating an increase in the number of correct loop closures detected by CAT-SLAM.

Impact and interest:

15 citations in Scopus
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13 citations in Web of Science®

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135 since deposited on 23 Apr 2012
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ID Code: 49805
Item Type: Journal Article
Keywords: appearance-based SLAM, vision-based robot navigation, CAT-SLAM
DOI: 10.1177/0278364912438273
ISSN: 0278-3649
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
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: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 Sage Publications.
Deposited On: 23 Apr 2012 10:20
Last Modified: 04 Apr 2013 13:35

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