ICRA 2011 Paper Abstract

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Paper WeA105.2

Parsley, Martin Peter (University College London), Julier, Simon Justin (University College London)

Exploiting Prior Information in GraphSLAM

Scheduled for presentation during the Regular Sessions "SLAM I" (WeA105), Wednesday, May 11, 2011, 08:35−08:50, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords SLAM, Autonomous Agents, Mapping

Abstract

In this paper we present a general method for exploiting prior information to constrain the location of landmarks in GraphSLAM. Prior information can be obtained for many environments in many different ways. However, this information can be incomplete, out-of-date, or presented in a different form than that used by the robot. Therefore, we argue that prior information is most naturally modelled as sets of potential constraints that act between landmarks. We present an extension of GraphSLAM that incorporates these constraints. We illustrate the results in an experiment with a 3D laser scanner and demonstrate a significant improvement in performance.

 

 

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