Sciweavers

Share
IJRR
2006

The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures

8 years 7 months ago
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization techniques to SLAM problems. It transforms the SLAM posterior into a graphical network, representing the log-likelihood of the data. It then reduces this graph using variable elimination techniques, arriving at a lowerdimensional problems that is then solved using conventional optimization techniques. As a result, GraphSLAM can generate maps with 108 or more features. The paper discusses a greedy algorithm for data association, and presents results for SLAM in urban environments with occasional GPS measurements. KEY WORDS--SLAM, robot navigation, localization, mapping
Sebastian Thrun, Michael Montemerlo
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2006
Where IJRR
Authors Sebastian Thrun, Michael Montemerlo
Comments (0)
books