Using the topological skeleton for scalable global metrical map-building

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 2, Issue , 2004, Pages 1530-1536

  Modayil, Joseph ^a   Beeson, Patrick ^a   Kuipers, Benjamin ^a  

^a University of Texas at Austin   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

GRAPH CONSTRAINTS; ODOMETRY; SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM); TOPOLOGICAL MAPS;

ALGORITHMS; ERROR ANALYSIS; GRAPH THEORY; MARKOV PROCESSES; MAXIMUM LIKELIHOOD ESTIMATION; POSITION MEASUREMENT; PROBLEM SOLVING; STATE ESTIMATION; TOPOLOGY;

ROBOTS;

EID: 14044278211     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (28)

1. J.-S. Gutmann and K. Konolige, "Incremental mapping of large cyclic environments," in International Symposium on Computational Intelligence in Robotics and Automation (CIRA'99), 1999, pp. 318-325.
2. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, "FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges," in Proc. 18th Int. Joint Conf. on Artificial Intelligence (IJCAI-03). Morgan-Kaufmann Publishers, 2003, pp. 1151-1156.
3. A. Eliazar and R. Parr, "DP-SLAM: Fast, robust simultaneous localization and mapping without predetermined landmarks," in Proc. 18th Int. Joint Conf. on Artificial Intelligence (IJCAI-03). Morgan Kaufmann, 2003, pp. 1135-1142.
4. D. Hähnel, W. Burgard, D. Fox, and S. Thrun, "An efficient FastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS-03), 2003.
5. R. van der Merwe, A. Doucet, N. de Freitas, and E. Wan, "The unscented particle filter," Cambridge University Engineering Department, Tech. Rep. CUED/F-INFENG/TR 380, 2000.
6. B. Kuipers, J. Modayil, P. Beeson, M. MacMahon, and F. Savelli, "Local metrical and global topological maps in the hybrid spatial semantic hierarchy," in IEEE Int. Conf. on Robotics & Automation (ICRA-04), 2004, pp. 4845-4851.
7. B. J. Kuipers, "The Spatial Semantic Hierarchy," Artificial Intelligence, vol. 119, pp. 191-233, 2000.
8. M. Bosse, P. Newman, J. Leonard, M. Soika, W. Feiten, and S. Teller, "An Atlas framework for scalable mapping," in IEEE International Conference on Robotics and Automation, 2003.
9. J. Leonard and P. Newman, "Consistent, convergent, and constant-time SLAM," in Proc. 18th Int. Joint Conf. on Artificial Intelligence (IJCAI-03). Morgan Kaufmann, 2003, pp. 1143-1150.
10. E. Remolina and B. Kuipers, "Towards a general theory of topological maps," Artificial Intelligence, vol. 152, pp. 47-104, 2004.
11. F. Savelli and B. Kuipers, "Loop-closing and planarity in topological map-buiding," in IEEE IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004.
12. B. Kuipers and P. Beeson, "Bootstrap learning for place recognition," in Proc. 18th National Conf. on Artificial Intelligence (AAAI-2002). AAAI/MIT Press, 2002, pp. 174-180.
13. H. P. Moravec, "Sensor fusion in certainty grids for mobile robots," AI Magazine, pp. 61-74, Summer 1988.
14. J. J. Leonard and H. F. Durrant-Whyte, Directed Sonar Sensing for Mobile Robot Navigation. Boston: Kluwer Academic Publishers, 1992.
15. S. Thrun, W. Burgard, and D. Fox, "A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping," in IEEE International Conference on Robotics and Automation. San Francisco, CA: IEEE, 2000.
16. H. Choset and K. Nagatani, "Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization," IEEE Trans. on Robotics and Automation, vol. 17, no. 2, pp. 125-137, April 2001.
17. B. J. Kuipers and Y.-T. Byun, "A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations," Journal of Robotics and Autonomous Systems, vol. 8, pp. 47-63, 1991.
18. G. Dudek, M. Jenkin, E. Milios, and D. Wilkes, "Robotic exploration as graph construction," IEEE Trans. on Robotics and Automation, vol. 7, no. 6, pp. 859-865, 1991.
19. G. Dudek, P. Freedman, and S. Hadjres, "Using local information in a non-local way for mapping graph-like worlds," in Proc. 13th Int. Joint Conf. on Artificial Intelligence (IJCAI-93), 1993, pp. 1639-1645.
20. K. Murphy, "Bayesian map learning in dynamic environments," in Neural Information Processing Systems (NIPS-99), 1999.
21. R. Smith, M. Self, and P. Cheeseman, "Estimating uncertain spatial relationships in robotics," in Autonomous robot vehicles, I. J. Cox and G. T. Wilfong, Eds. New York: Kluwer Academic Publishers, 1990, pp. 167-193.
22. D. J. C. MacKay, Learning in graphical models. MIT Press, 1998, ch. Introduction to Monte Carlo methods, pp. 175-204.
23. K. Konolige, "Large-scale map-making," in Proc. 19th National Conf. on Artificial Intelligence (AAAI-2004), 2004.
24. S. Thrun, Y. Liu, D. Koller, A. Ng, Z. Gbahramani, and H. Durrant-Whyte, "Simultaneous localization and mapping with sparse extended information filters," April 2003, submitted for journal publication.
25. M. A. Paskin, "Thin junction tree filters for simultaneous localization and mapping," in Proc. 18th Int. Joint Conf. on Artificial Intelligence (IJCAI-03). Morgan Kaufmann, 2003, pp. 1157-1164.
26. F. Lu and E. Milios, "Globally consistent range scan alignment for environment mapping," Autonomous Robots, vol. 4, pp. 333-349, 1997.
27. S. Thrun, S. Gutmann, D. Fox, W. Burgard, and B. J. Kuipers, "Integrating topological and metric maps for mobile robot navigation: A statistical approach," in Proc. 15th National Conf. on Artificial Intelligence (AAAI-98). AAAI/MTT Press, 1998, pp. 989-995.
28. A. Howard and N. Roy, "The robotics data set repository (Radish)," 2003. [Online]. Available: http://radish.sourceforge.net/