Outdoor exploration and SLAM using a compressed filter
2003 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, 2003, 419-427 p.Conference paper (Refereed)
In this paper we describe the use of automatic explorationfor autonomous mapping of outdoor scenes. We describe areal-time SLAM implementation along with an autonomous explorationalgorithm. We have implemented SLAM with a compressedextended Kalman filter (CEKF) on an outdoor robot. Our implementationuses walls of buildings as features. The state predictions aremade by using a combination of odometry and inertial data. The systemwas tested on a 200 x 200 m site with 18 buildings on variableterrain. The paper helps explain some of the implementation detailsof the compressed filter such as, how to organize the map as well asmore general issues like, how to include the effects of pitch and rolland efficient feature detection.
Place, publisher, year, edition, pages
2003. 419-427 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729 ; 1
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-38223DOI: 10.1109/ROBOT.2003.1241631ISI: 000187419900068ISBN: 0-7803-7736-2OAI: oai:DiVA.org:kth-38223DiVA: diva2:436283
20th IEEE International Conference on Robotics and Automation (ICRA) Location: TAIPEI, TAIWAN Date: SEP 14-19, 2003