Efficient 6-DOF SLAM with Treemap as a Generic Backend
- 1 April 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (cat. No.01ch37164)
- No. 10504729,p. 4814-4819
- https://doi.org/10.1109/robot.2007.364221
Abstract
Treemap is a generic SLAM algorithm that has been successfully used to estimate extremely large 2D maps closing a loop over a million landmarks in 442ms. We are currently working on an open-source implementation that can handle most variants of SLAM. In this paper we discuss the generic part of the algorithm constituting the treemap backend and the variant specific parts acting as a driver. We present their interplay from a software-engineering point of view and show results for the case of 6-DOF feature based SLAM, closing a simulated loop over 106657 3D features in 209ms.Keywords
This publication has 19 references indexed in Scilit:
- Experimental comparison of techniques for localization and mapping using a bearing-only sensorPublished by Springer Nature ,2007
- Treemap: An O(log n) algorithm for indoor simultaneous localization and mappingAutonomous Robots, 2006
- A Discussion of Simultaneous Localization and MappingAutonomous Robots, 2006
- Exactly Sparse Delayed-State FiltersPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas FrameworkThe International Journal of Robotics Research, 2004
- Efficient variants of the ICP algorithmPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Probabilistic roboticsCommunications of the ACM, 2002
- The SPmap: a probabilistic framework for simultaneous localization and map buildingIEEE Transactions on Robotics and Automation, 1999
- Estimating 3-D rigid body transformations: a comparison of four major algorithmsMachine Vision and Applications, 1997
- Estimating Uncertain Spatial Relationships in RoboticsPublished by Springer Nature ,1990