Graphical SLAM for Outdoor Applications
2007 (English)In: Journal of Field Robotics, ISSN 1556-4959, Vol. 24, no 1-2, 51-70 p.Article in journal (Refereed) Published
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.
Data handling, Data structures, Graphic methods, Laser applications, Flexible data-association, Graph reduction
IdentifiersURN: urn:nbn:se:kth:diva-38232DOI: 10.1002/rob.20174ISI: 000246147300004ScopusID: 2-s2.0-33947539988OAI: oai:DiVA.org:kth-38232DiVA: diva2:436298
QC 201110052011-08-232011-08-232011-10-05Bibliographically approved