Closing a Million-Landmarks Loop
| Type of publication: | Inproceedings |
| Citation: | fre06c |
| Booktitle: | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing |
| Year: | 2006 |
| URL: | http://www.informatik.uni-brem... |
| Abstract: | We present an improved version of the treemap SLAM algorithm which uses Cholesky factors for representing Gaussians and a Hierarchical Tree Partitioning algorithm derived from the established Kernighan-Lin heuristic for graph bisection. We demonstrate the algorithm's efficiency by mapping a simulated building with 1032271 landmarks. In the end, we close a million-landmarks loop in 21, providing an estimate for 10000 selected landmarks close to the robot, or in 442 for computing a full estimate. |
| Userfields: | bdsk-url-1={http://www.informatik.uni-bremen.de/agebv/en/ClosingAMillionLandmarksLoop}, pdfurl={http://www.informatik.uni-bremen.de/agebv/downloads/published/freseiros06.pdf}, project={SFBTR8}, status={Reviewed}, |
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