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10

IROS
2006
IEEE

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Closing a Million-Landmarks Loop

13 years 10 months ago

Closing a Million-Landmarks Loop

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— We present an improved version of the treemap SLAM algorithm which uses Cholesky factors for representing Gaussians and a Hierarchical Tree Partitioning algorithm derived from the established Kernighan-Lin heuristic for graph bisection. We demonstrate the algorithm’s efﬁciency by mapping a simulated building with 1032271 landmarks. In the end, we close a million-landmarks loop in 21ms, providing an estimate for ≈10000 selected landmarks close to the robot, or in 442ms for computing a full estimate.

Udo Frese, Lutz Schroder

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Algorithm’s Efﬁciency | IROS 2006 | Robotics | Tree Partitioning Algorithm | Treemap Slam Algorithm |

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Added	12 Jun 2010
Updated	12 Jun 2010
Type	Conference
Year	2006
Where	IROS
Authors	Udo Frese, Lutz Schroder

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