Accelerated appearance-only SLAM

被引：31

作者：

Cummins, Mark ^{[1
]}

Newman, Paul ^{[1
]}

机构：

[1] Univ Oxford, Mobile Robot Res Grp, Oxford OX1 2JD, England

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543473

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a probabilistic bail-out condition for multihypothesis testing based on Bennett's inequality. We investigate the use of the test for increasing the speed of an appearance-only SLAM system where locations are recognised on the basis of their sensory appearance. The bail-out condition yields speed increases between 25x-50x on real data, with only slight degradation in accuracy. We demonstrate the system performing real-time loop closure detection on a mobile robot over multiple-kilometre paths in initially unknown outdoor environments.

引用

页码：1828 / 1833

页数：6

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