Simultaneous localization and mapping: exactly sparse information filters
Saved in:
| Format: | Book |
|---|---|
| Language: | English |
| Published: |
New Jersey [u.a.]
World Scientific
2011
|
| Series: | New frontiers in robotics
3 |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XII, 194 S. Ill., graph. Darst. |
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MARC
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| 245 | 1 | 0 | |a Simultaneous localization and mapping |b exactly sparse information filters |c Zhan Wang ; Shoudong Huang ; Gamini Dissanayake |
| 264 | 1 | |a New Jersey [u.a.] |b World Scientific |c 2011 | |
| 300 | |a XII, 194 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a New frontiers in robotics |v 3 | |
| 700 | 1 | |a Wang, Zhan |e Sonstige |4 oth | |
| 700 | 1 | |a Huang, Shoudong |e Sonstige |4 oth | |
| 700 | 1 | |a Dissanayake, Gamini |e Sonstige |4 oth | |
| 830 | 0 | |a New frontiers in robotics |v 3 |w (DE-604)BV036954057 |9 3 | |
| 856 | 4 | 2 | |m Digitalisierung UB Passau |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024177273&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
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Record in the Search Index
| _version_ | 1804148007901331456 |
|---|---|
| adam_text | Contents
Preface
v
Acknowledgments
vii
1.
Introduction
1
1.1
The SLAM Problem and Its Applications
......... 2
1.1.1
Description of the SLAM Problem
......... 2
1.1.2
Applications of SLAM
............... 3
1.2
Summary of SLAM Approaches
............... 4
1.2.1
EKF/EIF based SLAM Approaches
........ 5
1.2.2
Other SLAM Approaches
.............. 8
1.3
Key Properties of SLAM
................... 12
1.3.1
Observability
..................... 12
1.3.2
EKF SLAM Convergence
.............. 19
1.3.3
EKF SLAM Consistency
.............. 34
1.4
Motivation
.......................... 41
1.5
Book Overview
........................ 43
2.
Sparse Information Filters in SLAM
47
2.1
Information Matrix in the Full SLAM Formulation
.... 47
2.2
Information Matrix in the Conventional EIF SLAM For¬
mulation
............................ 52
2.3
Meaning of Zero Off-diagonal Elements in Information Ma¬
trix
............................... 54
2.4
Conditions for Achieving Exact Sparseness
........ 57
2.5
Strategies for Achieving Exact Sparseness
......... 59
2.5.1
Decoupling Localization and Mapping
....... 59
χ
Simultaneous Localization and Mapping: Exactly Sparse Information Filters
2.5.2
Using Local Submaps
................ 60
2.5.3
Combining Decoupling and Submaps
....... 60
2.6
Important Practical Issues in EIF SLAM
......... 61
2.7
Summary
........................... 62
3.
Decoupling Localization and Mapping
63
3.1
The D-SLAM Algorithm
................... 64
3.1.1
Extracting Map Information from Observations
. 64
3.1.2
Key Idea of D-SLAM
................ 69
3.1.3
Mapping
....................... 69
3.1.4
Localization
..................... 71
3.2
Structure of the Information Matrix in D-SLAM
..... 77
3.3
Efficient State and
Covar
iance Recovery
.......... 78
3.3.1
Recovery Using the Preconditioned Conjugated
Gradient (PCG) Method
.............. 80
3.3.2
Recovery Using Complete Cholesky Factorization
82
3.4
Implementation Issues
.................... 84
3.4.1
Admissible Measurements
.............. 84
3.4.2
Data Association
.................. 86
3.5
Computer Simulations
.................... 88
3.6
Experimental Evaluation
................... 95
3.6.1
Experiment in a Small Environment
........ 95
3.6.2
Experiment Using the Victoria Park
Dataset
... 95
3.7
Computational Complexity
................. 99
3.7.1
Storage
........................ 102
3.7.2
Localization
..................... 102
3.7.3
Mapping
....................... 102
3.7.4
State and Covariance Recovery
........... 103
3.8
Consistency of D-SLAM
.................. 107
3.9
Bibliographical Remarks
................... 108
3.10
Summary
...........................
Ill
4.
D-SLAM Local Map Joining Filter
113
4.1
Structure of D-SLAM Local Map Joining Filter
...... 114
4.1.1
State Vectors
..................... 115
4.1.2
Relative Information Relating Feature Locations
. 116
4.1.3
Combining Local Maps Using Relative Information
116
4.2
Obtaining Relative Location Information in Local Maps
. 117
Contents xi
4.2.1
Generating a Local Map
.............. 117
4.2.2
Obtaining Relative Location Information in the
Local Map
...................... 118
4.3
Global Map Update
..................... 122
4.3.1
Measurement Model
................. 122
4.3.2
Updating the Global Map
............. 122
4.3.3
Sparse Information Matrix
............. 124
4.4
Implementation Issues
.................... 125
4.4.1
Robot Localization
................. 125
4.4.2
Data Association
.................. 126
4.4.3
State and Covariance Recovery
........... 127
4.4.4
When to Start a New Local Map
......... 128
4.5
Computational Complexity
................. 128
4.5.1
Storage
........................ 128
4.5.2
Local Map Construction
.............. 129
4.5.3
Global Map Update
................. 129
4.5.4
Rescheduling the Computational Effort
...... 130
4.6
Computer Simulations
.................... 130
4.6.1
Simulation in a Small Area
............. 130
4.6.2
Simulation in a Large Area
............. 134
4.7
Experimental Evaluation
................... 140
4.8
Bibliographical Remarks
................... 147
4.9
Summary
........................... 149
5.
Sparse Local Submap Joining Filter
151
5.1
Structure of Sparse Local Submap Joining Filter
..... 152
5.1.1
Input to SLSJF
-
Local Maps
........... 153
5.1.2
Output of SLSJF
-
One Global Map
........ 154
5.2
Fusing Local Maps into the Global Map
.......... 155
5.2.1
Adding Xfk+l)a into the Global Map
....... 155
5.2.2
Initializing the Values of New Features and X?k+ x e
in the Global Map
.................. 156
5.2.3
Updating the Global Map
............. 157
5.3
Sparse Information Matrix
.................. 158
5.4
Implementation Issues
.................... 159
5.4.1
Data Association
.................. 160
5.4.2
State and Covariance Recovery
........... 162
5.5
Computer Simulations
.................... 162
xii
Simultaneous Localization and Mapping: Exactly Sparse Information Filters
5.6
Experimental Evaluation
................... 169
5.7
Discussion
........................... 169
5.7.1
Computational Complexity
............. 169
5.7.2
Zero Information Loss
................ 173
5.7.3
Tradeoffs in Achieving Exactly Sparse Representa¬
tion
.......................... 174
5.8
Summary
........................... 175
Appendix A Proofs of EKF SLAM Convergence and Consistency
177
A.I Matrix Inversion Lemma
................... 177
A.2 Proofs of EKF SLAM Convergence
............. 178
A.3 Proofs of EKF SLAM Consistency
............. 181
Appendix
В
Incremental Method for Cholesky Factorization
of SLAM Information Matrix
185
B.I Cholesky Factorization
.................... 185
B.2 Approximate Cholesky Factorization
............ 186
Bibliography
189
|
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| indexdate | 2024-07-10T00:00:18Z |
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| language | English |
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| owner_facet | DE-739 |
| physical | XII, 194 S. Ill., graph. Darst. |
| publishDate | 2011 |
| publishDateSearch | 2011 |
| publishDateSort | 2011 |
| publisher | World Scientific |
| record_format | marc |
| series | New frontiers in robotics |
| series2 | New frontiers in robotics |
| spelling | Simultaneous localization and mapping exactly sparse information filters Zhan Wang ; Shoudong Huang ; Gamini Dissanayake New Jersey [u.a.] World Scientific 2011 XII, 194 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier New frontiers in robotics 3 Wang, Zhan Sonstige oth Huang, Shoudong Sonstige oth Dissanayake, Gamini Sonstige oth New frontiers in robotics 3 (DE-604)BV036954057 3 Digitalisierung UB Passau application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024177273&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Simultaneous localization and mapping exactly sparse information filters New frontiers in robotics |
| title | Simultaneous localization and mapping exactly sparse information filters |
| title_auth | Simultaneous localization and mapping exactly sparse information filters |
| title_exact_search | Simultaneous localization and mapping exactly sparse information filters |
| title_full | Simultaneous localization and mapping exactly sparse information filters Zhan Wang ; Shoudong Huang ; Gamini Dissanayake |
| title_fullStr | Simultaneous localization and mapping exactly sparse information filters Zhan Wang ; Shoudong Huang ; Gamini Dissanayake |
| title_full_unstemmed | Simultaneous localization and mapping exactly sparse information filters Zhan Wang ; Shoudong Huang ; Gamini Dissanayake |
| title_short | Simultaneous localization and mapping |
| title_sort | simultaneous localization and mapping exactly sparse information filters |
| title_sub | exactly sparse information filters |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024177273&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV036954057 |
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