PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.

At a Glance

Synopsis

Browse Publications by Ryan Eustice and the rest of the PeRL Team.

Browse by year

2017, 2016, 2015, 2014, 2013, 2012, 2011, 2010, 2009, 2008, 2007, 2006, 2005, 2004, 2003, 2002, 2000

Theses

Generic factor-based node marginalization and edge sparsification for pose-graph SLAM

Summary


Nicholas Carlevaris-Bianco and Ryan M. Eustice, Generic factor-based node marginalization and edge sparsification for pose-graph SLAM. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 5728-5735, Karlsruhe, Germany, May 2013.

Abstract

This paper reports on a factor-based method for node marginalization in simultaneous localization and mapping (SLAM) pose-graphs. Node marginalization in a pose-graph induces fill-in and leads to computational challenges in performing inference. The proposed method is able to produce a new set of constraints over the elimination clique that can represent either the true marginalization, or a sparse approximation of the true marginalization using a Chow-Liu tree. The proposed algorithm improves upon existing methods in two key ways: First, it is not limited to strictly full-state relative-pose constraints and works equally well with other low-rank constraints such as those produced by monocular vision. Second, the new factors are produced in a way that accounts for measurement correlation, a problem ignored in other methods that rely upon measurement composition. We evaluate the proposed method over several real-world SLAM graphs and show that it outperforms other state-of-the-art methods in terms of Kullback-Leibler divergence.

Bibtex entry

@INPROCEEDINGS { ncarlevaris-2013a,
    AUTHOR = { Nicholas Carlevaris-Bianco and Ryan M. Eustice },
    TITLE = { Generic factor-based node marginalization and edge sparsification for pose-graph {SLAM} },
    BOOKTITLE = { Proceedings of the IEEE International Conference on Robotics and Automation },
    YEAR = { 2013 },
    MONTH = { May },
    ADDRESS = { Karlsruhe, Germany },
    PAGES = { 5728--5735 },
}