ICRA 2011 Paper Abstract


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 July 14, 2020

Keywords SLAM, Autonomous Agents, Mapping


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 However, this information can be incomplete, out-of-date, or presented in a different form than that used by the robot.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.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2020 PaperCept, Inc.
Page generated 2020-07-14  17:05:46 PST  Terms of use