Accelerated appearance-only SLAM

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Accelerated appearance-only SLAM
Abstract— This paper describes a probabilistic bail-out condition for multihypothesis testing based on Bennett’s inequality. We investigate the use of the test for increasing the speed of an appearance-only SLAM system where locations are recognised on the basis of their sensory appearance. The bail-out condition yields speed increases between 25x-50x on real data, with only slight degradation in accuracy. We demonstrate the system performing real-time loop closure detection on a mobile robot over multiple-kilometre paths in initially unknown outdoor environments.
Mark Joseph Cummins, Paul M. Newman
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Mark Joseph Cummins, Paul M. Newman
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