Reduced state representation in delayed-state SLAM
Document typeConference lecture
PublisherIEEE Press. Institute of Electrical and Electronics Engineers
Rights accessOpen Access
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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.