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Paper WeA07.2

Carrillo, Henry (University of Zaragoza), Reid, Ian (University of Oxford), Castellanos, Jose A. (University of Zaragoza)

On the Comparison of Uncertainty Criteria for Active SLAM

Scheduled for presentation during the Regular Session "SLAM I" (WeA07), Wednesday, May 16, 2012, 08:45−09:00, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords SLAM, Mapping, Autonomous Navigation

Abstract

In this paper, we consider the computation of the D-optimality criterion as a metric for the uncertainty of a SLAM system. Properties regarding the use of this uncertainty criterion in the active SLAM context are highlighted, and comparisons against the A-optimality criterion and entropy are presented. This paper shows that contrary to what has been previously reported, the D-optimality criterion is indeed capable of giving fruitful information as a metric for the uncertainty of a robot performing SLAM. Finally, through various experiments with simulated and real robots, we support our claims and show that the use of D-opt has desirable effects in various SLAM related tasks such as active mapping and exploration.

 

 

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