| Art der Veröffentlichung: |
Artikel in Konferenzband |
| Autor: |
U. Frese |
| Herausgeber: |
C. Freksa |
| Titel: |
{Treemap: An $O(log n)$ Algorithm for Simultaneous Localization and Mapping} |
| Buch / Sammlungs-Titel: |
Spatial Cognition IV |
| Seite(n): |
455 – 476 |
| Erscheinungsjahr: |
2005 |
| Verleger: |
Springer Verlag |
| Abstract / Kurzbeschreibung: |
This paper presents a very efficient SLAM algorithm that works by hierarchically dividing the map into local regions and subregions. At each level of the hierarchy each region stores a matrix representing some of the landmarks contained in this region. For keeping the matrices small only those landmarks are represented being observable from outside the region.
A measurement is integrated into a local subregion using
$O(k^2)$ computation time for $k$ landmarks in a subregion. When the robot moves to a different subregion a global update is necessary requiring only $O(k^3 log n)$ computation time for $n$ overall landmarks.
The algorithm is evaluated for map quality, storage space and
computation time using simulated and real experiments in an
office environment.
|
| Internet: |
http://www.informatik.uni-bremen.de/agebv/en/Treemap |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/fresesc04.pdf |
| Anmerkung / Hinweis: |
read the Autonomous Robots paper instead |
| Status: |
Reviewed |
| Letzte Aktualisierung: |
27. 03. 2009 |
