The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
نویسندگان
چکیده
This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization techniques to SLAM problems. It transforms the SLAM posterior into a graphical network, representing the log-likelihood of the data. It then reduces this graph using variable elimination techniques, arriving at a lowerdimensional problems that is then solved using conventional optimization techniques. As a result, GraphSLAM can generate maps with 108 or more features. The paper discusses a greedy algorithm for data association, and presents results for SLAM in urban environments with occasional GPS measurements. KEY WORDS—SLAM, robot navigation, localization, mapping
منابع مشابه
Sebastian Thrun and Michael Montemerlo The Graph SLAM Algorithm with Applications to Large - Scale Mapping of Urban Structures
This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization techniques to SLAM problems. It transforms the SLAM posterior into a graphical network, representing the log-likelihood of the data. It then reduces this graph using variable elimination techniques, arriving at a lowerd...
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عنوان ژورنال:
- I. J. Robotics Res.
دوره 25 شماره
صفحات -
تاریخ انتشار 2006