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Graphical SLAM for Outdoor Applications
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Masachusetts.ORCID iD: 0000-0002-7796-1438
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2007 (English)In: Journal of Field Robotics, ISSN 1556-4959, Vol. 24, no 1-2, 51-70 p.Article in journal (Refereed) Published
Abstract [en]

Application of SLAM outdoors is challenged by complexity, handling of non-linearities and flexible integration of a diverse set of features. A graphical approach to SLAM is introduced that enables flexible data-association. The method allows for handling of non-linearities. The method also enables easy introduction of global constraints. Computational issues can be addressed as a graph reduction problem. A complete framework for graphical based SLAM is presented. The framework is demonstrated for a number of outdoor experiments using an ATRV robot equipped with a SICK laser scanner and a CrossBow Inertial Unit. The experiments include handling of large outdoor environments with loop closing. The presented system operates at 5Hz on a 800 MHz computer.

Place, publisher, year, edition, pages
John Wiley & Sons , 2007. Vol. 24, no 1-2, 51-70 p.
Keyword [en]
Data handling, Data structures, Graphic methods, Laser applications, Flexible data-association, Graph reduction
National Category
URN: urn:nbn:se:kth:diva-38232DOI: 10.1002/rob.20174ISI: 000246147300004ScopusID: 2-s2.0-33947539988OAI: diva2:436298
QC 20111005Available from: 2011-08-23 Created: 2011-08-23 Last updated: 2011-10-05Bibliographically approved

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Folkesson, JohnChristensen, Henrik I.
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Centre for Autonomous Systems, CAS

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