Simultaneous localization and mapping

View this topic in
Simultaneous localization and mapping (SLAM) is a technique used by robots and autonomous vehicles to build up a map within an unknown environment (without a priori knowledge), or to update a map within a known environment (with a priori knowledge from a given map), while at the same time keeping track of their current location. (Wikipedia.org)






Conferences related to Simultaneous localization and mapping

Back to Top

2018 26th Signal Processing and Communications Applications Conference (SIU)

The general scope of the conference ranges from signal and image processing to telecommunication, and applications of signal processing methods in biomedical and communication problems.

  • 2017 25th Signal Processing and Communications Applications Conference (SIU)

    Signal Processing and Communication Applications (SIU) conference is the most prominent scientific meeting on signal processing in Turkey bringing together researchers working in signal processing and communication fields. Topics include but are not limited to the areas of research listed in the keywords.

  • 2016 24th Signal Processing and Communication Application Conference (SIU)

    Signal Processing Theory, Statistical Signal Processing, Nonlinear Signal Processing, Adaptive Signal Processing, Array and Multichannel Signal Processing, Signal Processing for Sensor Networks, Time-Frequency Analysis, Speech / Voice Processing and Recognition, Computer Vision, Pattern Recognition, Machine Learning for Signal Processing, Human-Machine Interaction, Brain-Computer Interaction, Signal-Image Acquisition and Generation, image Processing, video Processing, Image Printing and Presentation, Image / Video / Audio browsing and retrieval, Image / Video / Audio Watermarking, Multimedia Signal Processing, Biomedical Signal Processing and Image Processing, Bioinformatics, Biometric Signal-Image Processing and Recognition, Signal Processing for Security and Defense, Signal and Image Processing for Remote Sensing, Signal Processing Hardware, Signal Processing Education, Radar Signal Processing, Communication Theory, Communication Networks, Wireless Communications

  • 2015 23th Signal Processing and Communications Applications Conference (SIU)

    Signal Processing Theory Statistical Signal Processing Nonlinear Signal Processing Adaptive Signal Processing Array and Multichannel Signal Processing Signal Processing for Sensor Networks Time-Frequency Analysis Speech / Voice Processing and Recognition Computer Vision Pattern Recognition Machine Learning for Signal Processing Human-Machine Interaction Brain-Computer Interaction Signal-Image Acquisition and Generation image Processing video Processing Image Printing and Presentation Image / Video / Audio browsing and retrieval Image / Video / Audio Watermarking Multimedia Signal Processing Biomedical Signal Processing and Image Processing Bioinformatics Biometric Signal-Image Processing and Recognition Signal Processing for Security and Defense Signal and Image Processing for Remote Sensing Signal Processing Hardware Signal Processing Education Radar Signal Processing Communication Theory Communication Networks Wireless Communications

  • 2014 22nd Signal Processing and Communications Applications Conference (SIU)

    SIU will be held in Trabzon, Turkey at the Karadeniz Technical University Convention and Exhibition Centre on April 23, 2014. SIU is the largest and most comprehensive technical conference focused on signal processing and its applications in Turkey. Last year there were 500 hundred participants. The conference will feature renowned speakers, tutorials, and thematic workshops. Topics include but are not limited to: Signal Procesing, Image Processing, Communication, Computer Vision, Machine Learning, Biomedical Signal Processing,

  • 2013 21st Signal Processing and Communications Applications Conference (SIU)

    Conference will discuss state of the art solutions and research results on existing and future DSP and telecommunication systems, applications, and related standardization activities. Conference will also include invited lectures, tutorials and special sessions.

  • 2012 20th Signal Processing and Communications Applications Conference (SIU)

    Conference will discuss state of the art solutions and research results on existing and future DSP and telecommunication systems, applications, and related standardization activities. Conference will also include invited lectures, tutorials and special sessions.

  • 2011 19th Signal Processing and Communications Applications Conference (SIU)

    Conference will bring together academia and industry professionals as well as students and researchers to present and discuss state of the art solutions and research results on existing and future DSP and telecommunication systems, applications, and related standardization activities. The Conference will also include invited lectures, tutorials and special sessions.

  • 2010 IEEE 18th Signal Processing and Communications Applications Conference (SIU)

    S1.Theory of Signal-Processing S2.Statistical Signal-Processing S3.Multimedia Signal-Processing S4.Biomedical Signal-Processing S5.Sensor Networks S6.Multirate Signal-Processing S7.Pattern Recognition S8.Computer Vision S9.Adaptive Filters S10.Image/Video/Speech Browsing, Retrieval S11.Speech/Audio Coding S12.Speech Processing S13.Human-Machine Interfaces S14.Surveillance Signal Processing S15.Bioinformatics S16.Self-Learning S17.Signal-Processing Education S18.Signal-Processing Systems S1

  • 2009 IEEE 17th Signal Processing and Communications Applications Conference (SIU)

    The scope of the conference is to cover recent topics in theory and applications of Signal Processing and Communications.

  • 2008 IEEE 16th Signal Processing and Communications Applications Conference (SIU)

    Signal Processing, Image Processing, Speech Processing, Pattern Recognition, Human Computer Interaction, Communication, Video and Speech indexing, Computer Vision, Biomedical Signal Processing

  • 2007 IEEE 15th Signal Processing and Communications Applications (SIU)

  • 2006 IEEE 14th Signal Processing and Communications Applications (SIU)

  • 2005 IEEE 13th Signal Processing and Communications Applications (SIU)

  • 2004 IEEE 12th Signal Processing and Communications Applications (SIU)


2018 55th ACM/ESDA/IEEE Design Automation Conference (DAC)

The world's premier EDA and semiconductor design conference and exhibition. DAC features over 60 sessions on design methodologies and EDA tool developments, keynotes, panels, plus the NEW User Track presentations. A diverse worldwide community representing more than 1,000 organizations attends each year, from system designers and architects, logic and circuit designers, validation engineers, CAD managers, senior managers and executives to researchers and academicians from leading universities.

  • 2022 59th ACM/ESDA/IEEE Design Automation Conference (DAC)

    The world's premier EDA and semiconductor design conference and exhibition. DAC features over 60 sessions on design methodologies and EDA tool developments, keynotes, panels, plus the NEW User Track presentations. A diverse worldwide community representing more than 1,000 organizations attends each year, from system designers and architects, logic and circuit designers, validation engineers, CAD managers, senior managers and executives to researchers and academicians from leading universities.

  • 2021 58th ACM/ESDA/IEEE Design Automation Conference (DAC)

    The world's premier EDA and semiconductor design conference and exhibition. DAC features over 60 sessions on design methodologies and EDA tool developments, keynotes, panels, plus the NEW User Track presentations. A diverse worldwide community representing more than 1,000 organizations attends each year, from system designers and architects, logic and circuit designers, validation engineers, CAD managers, senior managers and executives to researchers and academicians from leading universities.

  • 2020 57th ACM/ESDA/IEEE Design Automation Conference (DAC)

    The world's premier EDA and semiconductor design conference and exhibition. DAC features over 60 sessions on design methodologies and EDA tool developments, keynotes, panels, plus the NEW User Track presentations. A diverse worldwide community representing more than 1,000 organizations attends each year, from system designers and architects, logic and circuit designers, validation engineers, CAD managers, senior managers and executives to researchers and academicians from leading universities.

  • 2017 54th ACM/EDAC/IEEE Design Automation Conference (DAC)

    The world's premier EDA and semiconductor design conference and exhibition. DAC features over 60 sessions on design methodologies and EDA tool developments, keynotes, panels, plus the NEW User Track presentations. A diverse worldwide community representing more than 1,000 organizations attends each year, from system designers and architects, logic and circuit designers, validation engineers, CAD managers, senior managers and executives to researchers and academicians from leading universities.

  • 2015 52nd ACM/EDAC/IEEE Design Automation Conference (DAC)

    The world's premier EDA and semiconductor design conference and exhibition. DAC features over 60 sessions on design methodologies and EDA tool developments, keynotes, panels, plus the NEW User Track presentations. A diverse worldwide community representing more than 1,000 organizations attends each year, from system designers and architects, logic and circuit designers, validation engineers, CAD managers, senior managers and executives to researchers and academicians from leading universities.

  • 2014 51st ACM/EDAC/IEEE Design Automation Conference (DAC)

    DAC Description for TMRF The world's premier EDA and semiconductor design conference and exhibition. DAC features over 60 sessions on design methodologies and EDA tool developments, keynotes, panels, plus the NEW User Track presentations. A diverse worldwide community representing more than 1,000 organizations attends each year, from system designers and architects, logic and circuit designers, validation engineers, CAD managers, senior managers and executives to researchers and academicians from leading

  • 2013 50th ACM/EDAC/IEEE Design Automation Conference (DAC)

    The world's premier EDA and semiconductor design conference and exhibition. DAC features over 60 session on design methodologies and EDA tool developments, keynotes, panels, plus User Track presentations. A diverse worldwide community representing more than 1,000 organization attends each year, from system designers and architects, logic and circuit designers, validation engineers, CAD managers, senior managers and executives to researchers and academicians from leading universities.

  • 2012 49th ACM/EDAC/IEEE Design Automation Conference (DAC)

    The Design Automation Conference (DAC) is the premier event for the design of electronic circuits and systems, and for EDA and silicon solutions. DAC features a wide array of technical presentations plus over 200 of the leading electronics design suppliers

  • 2011 48th ACM/EDAC/IEEE Design Automation Conference (DAC)

    The Design Automation Conference is the world s leading technical conference and tradeshow on electronic design and design automation. DAC is where the IC Design and EDA ecosystem learns, networks, and does business.

  • 2010 47th ACM/EDAC/IEEE Design Automation Conference (DAC)

    The Design Automation Conference (DAC) is the premier event for the design of electronic circuits and systems, and for EDA and silicon solutions. DAC features a wide array of technical presentations plus over 200 of the leading electronics design suppliers.

  • 2009 46th ACM/EDAC/IEEE Design Automation Conference (DAC)

    DAC is the premier event for the electronic design community. DAC offers the industry s most prestigious technical conference in combination with the biggest exhibition, bringing together design, design automation and manufacturing market influencers.

  • 2008 45th ACM/EDAC/IEEE Design Automation Conference (DAC)

    The Design Automation Conference (DAC) is the premier event for the design of electronic circuits and systems, and for EDA and silicon solutions. DAC features a wide array of technical presentations plus over 250 of the leading electronics design suppliers.

  • 2007 44th ACM/IEEE Design Automation Conference (DAC)

    The Design Automation Conference (DAC) is the premier Electronic Design Automation (EDA) and silicon solution event. DAC features over 50 technical sessions covering the latest in design methodologies and EDA tool developments and an Exhibition and Demo Suite area with over 250 of the leading EDA, silicon and IP Providers.

  • 2006 43rd ACM/IEEE Design Automation Conference (DAC)


2018 Chinese Control And Decision Conference (CCDC)

Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2017 29th Chinese Control And Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2016 Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create aforum for scientists, engineers and practitioners throughout the world to present the latestadvancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2015 27th Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2014 26th Chinese Control And Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create aforum for scientists, engineers and practitioners throughout the world to present the latestadvancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2013 25th Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2012 24th Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2011 23rd Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2010 Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies

  • 2009 Chinese Control and Decision Conference (CCDC)

    Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

  • 2008 Chinese Control and Decision Conference (CCDC)


2018 IEEE Aerospace Conference

The international IEEE Aerospace Conference is organized to promote interdisciplinaryunderstanding of aerospace systems, their underlying science, and technology


2018 IEEE Conference on Decision and Control (CDC)

Control systems analysis and design


More Conferences

Periodicals related to Simultaneous localization and mapping

Back to Top

Automatic Control, IEEE Transactions on

The theory, design and application of Control Systems. It shall encompass components, and the integration of these components, as are necessary for the construction of such systems. The word `systems' as used herein shall be interpreted to include physical, biological, organizational and other entities and combinations thereof, which can be represented through a mathematical symbolism. The Field of Interest: shall ...


Automation Science and Engineering, IEEE Transactions on

The IEEE Transactions on Automation Sciences and Engineering (T-ASE) publishes fundamental papers on Automation, emphasizing scientific results that advance efficiency, quality, productivity, and reliability. T-ASE encourages interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, operations research, and other fields. We welcome results relevant to industries such as agriculture, biotechnology, healthcare, home automation, maintenance, manufacturing, pharmaceuticals, retail, ...


Distributed Systems Online, IEEE

After nine years of publication, DS Online will be moving into a new phase as part of Computing Now (http://computingnow.computer.org), a new website providing the front end to all of the Computer Society's magazines. As such, DS Online will no longer be publishing standalone peer-reviewed articles.


Fuzzy Systems, IEEE Transactions on

Theory and application of fuzzy systems with emphasis on engineering systems and scientific applications. (6) (IEEE Guide for Authors) Representative applications areas include:fuzzy estimation, prediction and control; approximate reasoning; intelligent systems design; machine learning; image processing and machine vision;pattern recognition, fuzzy neurocomputing; electronic and photonic implementation; medical computing applications; robotics and motion control; constraint propagation and optimization; civil, chemical and ...


Geoscience and Remote Sensing Letters, IEEE

It is expected that GRS Letters will apply to a wide range of remote sensing activities looking to publish shorter, high-impact papers. Topics covered will remain within the IEEE Geoscience and Remote Sensing Societys field of interest: the theory, concepts, and techniques of science and engineering as they apply to the sensing of the earth, oceans, atmosphere, and space; and ...


More Periodicals

Most published Xplore authors for Simultaneous localization and mapping

Back to Top

Xplore Articles related to Simultaneous localization and mapping

Back to Top

Maplab: An Open Framework for Research in Visual-Inertial Mapping and Localization

[{u'author_order': 1, u'affiliation': u'Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland', u'full_name': u'Thomas Schneider'}, {u'author_order': 2, u'affiliation': u'Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland', u'full_name': u'Marcin Dymczyk'}, {u'author_order': 3, u'affiliation': u'Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland', u'full_name': u'Marius Fehr'}, {u'author_order': 4, u'affiliation': u'Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland', u'full_name': u'Kevin Egger'}, {u'author_order': 5, u'affiliation': u'Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland', u'full_name': u'Simon Lynen'}, {u'author_order': 6, u'affiliation': u'Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland', u'full_name': u'Igor Gilitschenski'}, {u'author_order': 7, u'affiliation': u'Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland', u'full_name': u'Roland Siegwart'}] IEEE Robotics and Automation Letters, 2018

Robust and accurate visual-inertial estimation is crucial to many of today's challenges in robotics. Being able to localize against a prior map and obtain accurate and drift-free pose estimates can push the applicability of such systems even further. Most of the currently available solutions, however, either focus on a single session use case, lack localization capabilities, or do not provide ...


Vision SLAM in the Measurement Subspace

[{u'author_order': 1, u'affiliation': u'Centre for Autonomous Systems Royal Institute of Technology SE-100 44 Stockholm johnf@nada.kth.se', u'full_name': u'J. Folkesson'}, {u'author_order': 2, u'full_name': u'P. Jensfelt'}, {u'author_order': 3, u'full_name': u'H. I. Christensen'}] Proceedings of the 2005 IEEE International Conference on Robotics and Automation, None

In this paper we describe an approach to feature representation for simultaneous localization and mapping, SLAM. It is a general representation for features that addresses symmetries and constraints in the feature coordinates. Furthermore, the representation allows for the features to be added to the map with partial initialization. This is an important property when using oriented vision features where angle ...


A tutorial on TESS: The extended simulation support system

[{u'author_order': 1, u'affiliation': u'Pritsker & Associates, Inc.', u'full_name': u'M. E. Grant'}, {u'author_order': 2, u'full_name': u'D. W. Starks'}] 1988 Winter Simulation Conference Proceedings, None

This paper presents a discussion of TESS, The Extended Simulation Support System. TESS is a software product which creates an environment for conducting all tasks related to a successful simulation study in an integrated and consistent fashion. It is recognized that there are different types of users for such a support system, from model builders and input data collectors, to ...


The vSLAM Algorithm for Robust Localization and Mapping

[{u'author_order': 1, u'affiliation': u'Evolution Robotics, Inc. Pasadena, California, USA Email: niklas@evolution.com', u'full_name': u'N. Karlsson'}, {u'author_order': 2, u'full_name': u'E. di Bernardo'}, {u'author_order': 3, u'full_name': u'J. Ostrowski'}, {u'author_order': 4, u'full_name': u'L. Goncalves'}, {u'author_order': 5, u'full_name': u'P. Pirjanian'}, {u'author_order': 6, u'full_name': u'M. E. Munich'}] Proceedings of the 2005 IEEE International Conference on Robotics and Automation, None

This paper presents the Visual Simultaneous Localization and Mapping (vSLAMTM) algorithm, a novel algorithm for simultaneous localization and mapping (SLAM). The algorithm is vision-and odometry-based, and enables low-cost navigation in cluttered and populated environments. No initial map is required, and it satisfactorily handles dynamic changes in the environment, for example, lighting changes, moving objects and/or people. Typically, vSLAM recovers quickly ...


Navigation in complex unstructured environments

[{u'author_order': 1, u'affiliation': u'Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore', u'full_name': u'W. S. Wijesoma'}, {u'author_order': 2, u'affiliation': u'Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore', u'full_name': u'L. D. L. Perera'}, {u'author_order': 3, u'affiliation': u'Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore', u'full_name': u'M. D. Adams'}] ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004., None

Autonomous navigation in complex unstructured environments has recently stimulated considerable interest among the robotics research community. This paper discusses the major challenges such as robust feature extraction and data association or the correspondence problem faced in achieving the above goal. The interrelationship between the feature extraction and the data association is elaborated by using the multi-frame multidimensional data association framework ...


More Xplore Articles

Educational Resources on Simultaneous localization and mapping

Back to Top

eLearning

No eLearning Articles are currently tagged "Simultaneous localization and mapping"

IEEE.tv Videos

Cooperative Localization in Sensor Networks
Localization Services for Online Common Operational Picture and Situation Awareness
Mapping Human to Robot Motion with Functional Anthropomorphism for Teleoperation and Telemanipulation with Robot Arm Hand Systems
A Wideband Single-PLL RF Receiver for Simultaneous Multi-Band and Multi-Channel Digital Car Radio Reception: RFIC Industry Showcase
Comparing Modern Multiport VNA vs. Conventional Switch-based VNA: MicroApps 2015 - Keysight Technologies
Road-Mapping Session with Deepa Prahalad at Internet Inclusion: Advancing Solutions, Delhi, 2016
Clinton Andrews leads the ETAP Forum Vote on the Top Four IoT Issues
Stephen Weinstein accepts the IEEE Richard M. Emberson Award - Honors Ceremony 2016
ISEC 2013 Special Gordon Donaldson Session: Remembering Gordon Donaldson - 5 of 7 - SQUID Instrumentation for Early Cancer Diagnostics
Conversion of Artificial Recurrent Neural Networks to Spiking Neural Networks for Low-power Neuromorphic Hardware - Emre Neftci: 2016 International Conference on Rebooting Computing
The Autonomous City Explorer (ACE) Project--Mobile Robot Navigation in Highly Populated Urban Environments
Neato Robotics' Roomba Competitor
Beobot 2.0: Autonomous Mobile Robot Localization and Navigation in Outdoor Pedestrian Environment
2011 IEEE Awards Matt Ettus HKN Eminent Member Recognition
Uncovering the Neural Code of Learning Control - Jennie Si - WCCI 2012 invited lecture
Applying Control Theory to the Design of Cancer Therapy
Application of Connectivity in Automated Driving - Gaurav Bansal: Brooklyn 5G Summit 2017
Connecting to Thrive Panel - Internet Inclusion: Global Connect Stakeholders Advancing Solutions, Washington DC, 2016
Light Our Future - IEEE Photonics Society
A Bayesian Approach for Spatial Clustering - IEEE CIS Webinar

IEEE-USA E-Books

  • A Linear Approximation for Graph-Based Simultaneous Localization and Mapping

    This article investigates the problem of Simultaneous Localization and Mapping (SLAM) from the perspective of linear estimation theory. The problem is first formulated in terms of graph embedding: a graph describing robot poses at subsequent instants of time needs be embedded in a three-dimensional space, assuring that the estimated configuration maximizes measurement likelihood. Combining tools belonging to linear estimation and graph theory, a closed-form approximation to the full SLAM problem is proposed, under the assumption that the relative position and the relative orientation measurements are independent. The approach needs no initial guess for optimization and is formally proven to admit solution under the SLAM setup. The resulting estimate can be used as an approximation of the actual nonlinear solution or can be further refined by using it as an initial guess for nonlinear optimization techniques. Finally, the experimental analysis demonstrates that such refinement is often unnecessary, since the linear estimate is already accurate.

  • Factor Graphs for Robot Perception

    Factor Graphs for Robot Perception reviews the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are a family of probabilistic graphical models, other examples of which are Bayesian networks and Markov random fields, well known from the statistical modeling and machine learning literature. They provide a powerful abstraction that gives insight into particular inference problems, making it easier to think about and design solutions, and write modular software to perform the actual inference. This book illustrates their use in the simultaneous localization and mapping problem and other important problems associated with deploying robots in the real world. Factor graphs are introduced as an economical representation within which to formulate the different inference problems, setting the stage for the subsequent sections on practical methods to solve them. The book explains the nonlinear optimization techniques for solving arbit ary nonlinear factor graphs, which requires repeatedly solving large sparse linear systems. Factor Graphs for Robot Perception will be of interest to students, researchers and practicing roboticists with an interest in the broad impact factor graphs have had, and continue to have, in robot perception.

  • On the Structure of Nonlinearities in Pose Graph SLAM

    Pose graphs have become an attractive representation for solving Simultaneous Localization and Mapping (SLAM) problems. In this paper, we analyze the structure of the nonlinearities in the 2D SLAM problem formulated as the optimizing of a pose graph. First, we prove that finding the optimal configuration of a very basic pose graph with 3 nodes (poses) and 3 edges (relative pose constraints) with spherical covariance matrices, which can be formulated as a six dimensional least squares optimization problem, is equivalent to solving a one dimensional optimization problem. Then we show that the same result can be extended to the optimizing of a pose graph with "two anchor nodes" where every edge is connecting to one of the two anchor nodes. Furthermore, we prove that the global minimum of the resulting one dimensional optimization problem must belong to a certain interval and there are at most 3 minima in that interval. Thus the globally optimal pose configuration of the pose graph can be obtained very easily through the bisection method and closed-form formulas.

  • Improving Localization Robustness in Monocular SLAM Using a High-Speed Camera

    In the robotics community localization and mapping of an unknown environment is a well-studied problem. To solve this problem in real-time using visual input, a standard monocular Simultaneous Localization and Mapping (SLAM) algorithm can be used. This algorithm is very stable when smooth motion is expected, but in case of erratic or sudden movements, the camera pose typically gets lost. To improve robustness in Monocular SLAM (MonoSLAM) we propose to use a camera with faster readout speed to obtain a frame rate of 200Hz. We further present an extended MonoSLAM motion model, which can handle movements with significant jitter. In this work the improved localization and mapping have been evaluated against ground truth, which is reconstructed from off-line vision. To explain the benefits of using a high frame rate vision input in MonoSLAM framework, we performed repeatable experiments with a high- speed camera mounted onto a robotic arm. Due to the dense visual information MonoSLAM can faster shrink localization and mapping uncertainties and can operate under fast, erratic, or sudden movements. The extended motion model can provide additional robustness against significant handheld jitter when throwing or shaking the camera.

  • Mapping Large Loops with a Single Hand-Held Camera

    This paper presents a method for Simultaneous Localization and Mapping (SLAM), relying on a monocular camera as the only sensor, which is able to build outdoor, closed-loop maps much larger than previously achieved with such input. Our system, based on the Hierarchical Map approach [1], builds independent local maps in real-time using the EKF-SLAM technique and the inverse depth representation proposed in [2]. The main novelty in the local mapping process is the use of a data association technique that greatly improves its robustness in dynamic and complex environments. A new visual map matching algorithm stitches these maps together and is able to detect large loops automatically, taking into account the unobservability of scale intrinsic to pure monocular SLAM. The loop closing constraint is applied at the upper level of the Hierarchical Map in near real-time. We present experimental results demonstrating monocular SLAM as a human carries a camera over long walked trajectories in outdoor areas with people and other clutter, even in the more difficult case of forward-looking camera, and show the closing of loops of several hundred meters.

  • BS-SLAM: Shaping the World

    This paper presents BS-SLAM, a simultaneous localization and mapping algorithm for use in unstructured environments that is effective regardless of whether features correspond to simple geometric primitives such as lines or not. The coordinates of the control points defining a set of B-splines are used to form a complete and compact description of the environment, thus making it feasible to use an extended Kalman filter based SLAM algorithm. The proposed method is the first known EKF-SLAM implementation capable of describing both straight and curve features in a parametric way. Appropriate observation equation that allows the exploitation of virtually all observations from a range sensor such as the ubiquitous laser range finder is developed. Efficient strategies for computing the relevant Jacobians, perform data association, initialization and expanding the map are presented. The effectiveness of the algorithms is demonstrated using experimental data.

  • A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent

    In 2006, Olson et al. presented a novel approach to address the graph-based simultaneous localization and mapping problem by applying stochastic gradient descent to minimize the error introduced by constraints. Together with multi- level relaxation, this is one of the most robust and efficient maximum likelihood techniques published so far. In this paper, we present an extension of Olson's algorithm. It applies a novel parameterization of the nodes in the graph that significantly improves the performance and enables us to cope with arbitrary network topologies. The latter allows us to bound the complexity of the algorithm to the size of the mapped area and not to the length of the trajectory as it is the case with both previous approaches. We implemented our technique and compared it to multi-level relaxation and Olson's algorithm. As we demonstrate in simulated and in real world experiments, our approach converges faster than the other approaches and yields accurate maps of the environment.



Standards related to Simultaneous localization and mapping

Back to Top

No standards are currently tagged "Simultaneous localization and mapping"


Jobs related to Simultaneous localization and mapping

Back to Top