Closing a million-landmarks loop

被引：29

作者：

Frese, Udo ^{[1
]}

Schroeder, Lutz ^{[1
]}

机构：

[1] Univ Bremen, Fachbereich Math & Informat, SFTTR 8 Spatial Cognit, D-2800 Bremen 33, Germany

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.282531

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 21ms, providing an estimate for approximate to 10000 selected landmarks close to the robot, or in 442ms for computing a full estimate.

引用

页码：5032 / +

页数：2

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