| Publication type: |
Article in Proceedings |
| Author: |
U. Frese, T. Duckett |
| Title: |
A Multigrid Approach for Accelerating Relaxation-based SLAM |
| Book / Collection title: |
Proceedings of the IJCAI Workshop Reasoning with Uncertainty in Robotics |
| Page(s): |
39 – 46 |
| Year published: |
2003 |
| Abstract: |
This paper addresses the problem of simultaneous localisation and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from socalled multigrid methods used for solving partial differential equations. The approach overcomes the relatively slow convergence of previous relaxation methods because it optimizes the map at multiple levels of resolution. The resulting algorithm has an update time that is linear in the number of mapped features, even when closing very large loops, and offers advantages in handling non-linearities compared to previous approaches. Experimental comparisons with alternative algorithms using two well-known data sets are also presented. |
| Internet: |
http://www.informatik.uni-bremen.de/agebv/en/MLRSLAM |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/freseijcai03.pdf |
| Keywords: |
SLAM simultaneous localization and mapping multilevel multigrid relaxation MLR |
| Note / Comment: |
(read Transactions paper instead) |
| Status: |
Reviewed |
| Last updated: |
28. 10. 2008 |
