Journal ArticleDOI
A Discussion of Simultaneous Localization and Mapping
TLDR
A formal proof for approximate sparsity of so-called information matrices occurring in SLAM is sketched and supports the structure of uncertainty of an estimated map and provides a foundation for algorithms based on sparse informationMatrices.Abstract:
This paper aims at a discussion of the structure of the SLAM problem. The analysis is not strictly formal but based both on informal studies and mathematical derivation. The first part highlights the structure of uncertainty of an estimated map with the key result being "Certainty of Relations despite Uncertainty of Positions". A formal proof for approximate sparsity of so-called information matrices occurring in SLAM is sketched. It supports the above mentioned characterization and provides a foundation for algorithms based on sparse information matrices.
Further, issues of nonlinearity and the duality between information and covariance matrices are discussed and related to common methods for solving SLAM.
Finally, three requirements concerning map quality, storage space and computation time an ideal SLAM solution should have are proposed. The current state of the art is discussed with respect to these requirements including a formal specification of the term "map quality".read more
Citations
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Journal ArticleDOI
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Cesar Cadena,Luca Carlone,Henry Carrillo,Yasir Latif,Davide Scaramuzza,José L. Neira,Ian Reid,John J. Leonard +7 more
TL;DR: What is now the de-facto standard formulation for SLAM is presented, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers.
Proceedings ArticleDOI
Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling
TL;DR: Adapt techniques to reduce the number of particles in a Rao-Blackwellized particle filter for learning grid maps are presented and an approach to selectively carry out re-sampling operations which seriously reduces the problem of particle depletion is presented.
Journal ArticleDOI
Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving
TL;DR: This paper presents the limits of classical approaches for autonomous driving and discusses the criteria that are essential for this kind of application, as well as reviewing the methods where the identified challenges are tackled.
Journal ArticleDOI
Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM
TL;DR: It is shown that the robot orientation uncertainty at the instant when landmarks are first observed has a significant effect on the limit and/or the lower bound of the uncertainties of the landmark position estimates.
References
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Book
Applied Optimal Estimation
TL;DR: This is the first book on the optimal estimation that places its major emphasis on practical applications, treating the subject more from an engineering than a mathematical orientation, and the theory and practice of optimal estimation is presented.
Book ChapterDOI
Bundle Adjustment - A Modern Synthesis
TL;DR: A survey of the theory and methods of photogrammetric bundle adjustment can be found in this article, with a focus on general robust cost functions rather than restricting attention to traditional nonlinear least squares.