Scan-SLAM: Recursive Mapping and Localisation with Arbitrary-Shaped Landmarks
نویسندگان
چکیده
Scan-SLAM is a simultaneous localisation and mapping algorithm that combines scan-matching methods with recursive estimation of landmark locations (using an EKF or other Bayesian filter). The scan-matching capability allows landmarks with arbitrary shapes to be modelled directly by sensed data and tracked within a conventional filter framework. This paper presents the essential Scan-SLAM algorithm, and implementation details for application with a scanning range-laser: segmentation, alignment, covariance estimation, data association, and landmark model augmentation.
منابع مشابه
Scan-SLAM: Combining EKF-SLAM and Scan Correlation
This paper presents a new generalisation of simultaneous localisation and mapping (SLAM). SLAM implementations based on extended Kalman filter (EKF) data fusion have traditionally relied on simple geometric models for defining landmarks. This limits EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The approach presented in this paper is a marriag...
متن کاملRecursive scan-matching SLAM
This paper presents Scan-SLAM, a new generalization of simultaneous localization and mapping (SLAM). SLAM implementations based on extended Kalman filter (EKF) data fusion have traditionally relied on simple geometric models for defining landmarks. This limits EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The approach presented in this paper i...
متن کاملEffects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments
Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a...
متن کاملEdge Landmarks in Monocular SLAM
While many visual simultaneous localisation and mapping (SLAM) systems use point features as landmarks, few take advantage of the edge information in images. Those SLAM systems that do observe edge features do not consider edges with all degrees of freedom. Edges are difficult to use in vision SLAM because of selection, observation, initialisation and data association challenges. However, a map...
متن کاملAn Approximate Bayesian Method for Simultaneous Localisation and Mapping
This paper describes a Bayesian formulation of the Simultaneous Localisation and Mapping (SLAM) problem. Previously, the SLAM problem could only be solved in real time through the use of the Kalman Filter. This generally restricts the application of SLAM methods to domains with straight-forward (analytic) environment and sensor models. In this paper the Sum-of-Gaussian (SOG) method is used to a...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2008