PublisherIEEE Press. Institute of Electrical and Electronics Engineers
Rights accessOpen Access
This paper introduces an approach that reduces
the size of the state and maximizes the sparsity of the information
matrix in exactly sparse delayed-state SLAM. We
propose constant time procedures to measure the distance
between a given pair of poses, the mutual information gain
for a given candidate link, and the joint marginals required for
both measures. Using these measures, we can readily identify
non redundant poses and highly informative links and use
only those to augment and to update the state, respectively.
The result is a delayed-state SLAM system that reduces both
the use of memory and the execution time and that delays
filter inconsistency by reducing the number of linearization
introduced when adding new loop closure links. We evaluate
the advantage of the proposed approach using simulations and
data sets collected with real robots.
CitationIla, V.; Porta, J.; Andrade-Cetto, J. Reduced state representation in delayed-state SLAM. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems". St. Louis: IEEE Press. Institute of Electrical and Electronics Engineers, 2009, p. 4919-4924.
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