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IJCAI
2003

DP-SLAM: Fast, Robust Simultaneous Localization and Mapping Without Predetermined Landmarks

11 years 1 months ago
DP-SLAM: Fast, Robust Simultaneous Localization and Mapping Without Predetermined Landmarks
We present a novel, laser range finder based algorithm for simultaneous localization and mapping (SLAM) for mobile robots. SLAM addresses the problem of constructing an accurate map in real time despite imperfect information about the robot’s trajectory through the environment. Unlike other approaches that assume predetermined landmarks (and must deal with a resulting dataassociation problem) our algorithm is purely laser based. Our algorithm uses a particle filter to represent both robot poses and possible map configurations. By using a new map representation, which we call distributed particle (DP) mapping, we are able to maintain and update hundreds of candidate maps and robot poses efficiently. The worst-case complexity of our algorithm per laser sweep is log-quadratic in the number of particles we maintain and linear in the area swept out by the laser. However, in practice our run time is usually much less than that. Our technique contains essentially no assumptions about t...
Austin I. Eliazar, Ronald Parr
Added 31 Oct 2010
Updated 31 Oct 2010
Type Conference
Year 2003
Where IJCAI
Authors Austin I. Eliazar, Ronald Parr
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