An Efficient {FastSLAM} Algorithm for Generating Maps of Large-Scale Cyclic Environments from Raw Laser Range Measurements
| Type of publication: | Inproceedings |
| Citation: | haehnel_burgard_fox_thrun_03_an |
| Booktitle: | Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-03) |
| Year: | 2003 |
| Pages: | 206-211 |
| Abstract: | The ability to learn a consistent model of its environment is a prerequisite for autonomous mobile robots. A particularly challenging problem in acquiring environment maps is that of closing loops; loops in the environment create challenging data association problems [9]. This paper presents a novel algorithm that combines Rao-Blackwellized particle filtering and scan matching. In our approach scan matching is used for minimizing odometric errors during mapping. A probabilistic model of the residual errors of scan matching process is then used fo the resampling steps. This way the number of samples required is seriously reduced. Simultaneously we reduce the particle depletion problem that typically prevents the robot from closing large loops. We present extensive experiments that illustrate the superior performance of our approach compared to previous approaches (see video). |
| Userfields: | comments={- demonstrates well the current state of the art in metric non-feature-based mapping}, date-added={2012-09-03 15:47:30 +0200}, date-modified={2012-09-03 15:47:30 +0200}, notes={- nice movie demonstrating this approach part of the iros 2003 proceedings (CD) - need to work up some literature this is based on (Links 17,14,15,19) - didnt understand all the details - particles standing for complete (metric) maps / the path travelled by robot somehow form a bridge to my ideas about particles that desribe top. maps - still remaining problems shine through in ceratin places: particle deprivation, getting the right number of particles, too slow if many particles are used (looks like a lot of parameter tweaking is required); these might disappear when the goal of a metric representation is replaced in favor of a topological one}, project={fremdliteratur}, registry={A201 E50}, state={printed, read}, |
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