| Publication type: |
Article in Proceedings |
| Author: |
U. Frese, T. Duckett |
| Title: |
A Multigrid Approach for Accelerating Relaxation-based SLAM |
| Book / Collection title: |
18. Fachgespräch Autonome mobile Systeme |
| Year published: |
2003 |
| Abstract: |
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 so-called multigrid methods used for solving partial di erential 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 o ers 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/freseams03.pdf |
| Keywords: |
SLAM simultaneous localization and mapping mobile robot multigrid multilevel navigation |
| Note / Comment: |
(read Transactions paper instead) |
| Status: |
Reviewed |
| Last updated: |
28. 10. 2008 |
