The graph SLAM algorithm with applications to large-scale mapping of urban structures

International Journal of Robotics Research

Volumn 25, Issue 5-6, 2006, Pages 403-429

  Thrun, Sebastian ^a   Montemerlo, Michael ^a  

^a STANFORD UNIVERSITY   (United States)

Author keywords

Localization; Mapping; Robot navigation; SLAM

Indexed keywords

GRAPHICAL NETWORK; LOCALIZATION; ROBOT NAVIGATION; SLAM;

DATA ACQUISITION; GRAPH THEORY; MAPPING; NAVIGATION; OPTIMIZATION; ROBOT APPLICATIONS; ROBOTS;

ALGORITHMS;

EID: 33646702871     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364906065387     Document Type: Conference Paper

References (67)

1. Allen, P. and Stamos, I. 2000. Integration of range and image sensing for photorealistic 3D modeling. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1435-1440.
2. Araneda, A. 2003. Statistical inference in mapping and localization for a mobile robot. In Bayesian Statistics 7. (eds Bernardo, J. M., Bayarri, M., Berger, J., Dawid, A. P., Heckerman, D., Smith, A., and West, M). Oxford University Press, Oxford, UK.
3. Bailey, T. 2002. Mobile Robot Localisation and Mapping in Extensive Outdoor Environments. PhD thesis, University of Sydney, Sydney, NSW, Australia.
4. Bajcsy, R., Kamberova, G., and Nocera, L. 2000. 3D reconstruction of environments for virtual reconstruction. In Proc. of the 4th IEEE Workshop on Applications of Computer Vision.
5. Baker, C., Morris, A., Ferguson, D., Thayer, S., Whittaker, C., Omohundro, Z., Reverte, C., Whittaker, W., Hähnel, D., and Thrun, S. 2004. A campaign in autonomous mine mapping. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).
6. Bosse, M., Newman, P., Leonard, J., Soika, M., Feiten, W., and Teller, S. 2004. Simultaneous localization and map building in large-scale cyclic environments using the atlas framework. International Journal of Robotics Research 23 (12). 1113-1139.
7. Bosse, M., Newman, P., Soika, M., Feiten, W., Leonard, J., and Teller, S. 2003. An atlas framework for scalable mapping. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).
8. Bulata, H. and Devy, M. 1996. Incremental construction of a landmark-based and topological model of indoor environments by a mobile robot. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, USA.
9. Cheeseman, P. and Smith, P. 1986. On the representation and estimation of spatial uncertainty. International Journal of Robotics 5: 56-68.
10. Cowell, R., Dawid, A., Lauritzen, S., and Spiegelhalter, D. 1999. Probabilistic Networks and Expert Systems. Springer Verlag, Berlin, New York.
11. Csorba, M. 1997. Simultaneous Localisation and Map Building. PhD thesis, University of Oxford.
12. Dissanayake, G., Newman, P., Clark, S., Durrant-Whyte, H., and Csorba, M. 2001. A solution to the simultaneous localisation and map building (SLAM) problem. IEEE Transactions of Robotics and Automation 17 (3). 229-241.
13. Duckett, T., Marsland, S., and Shapiro, J. 2000. Learning globally consistent maps by relaxation. In Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, pp. 3841-3846.
14. Duckett, T., Marsland, S., and Shapiro, J. 2002. Fast, on-line learning of globally consistent maps. Autonomous Robots 12 (3). 287-300.
15. Durrant-Whyte, H. 1988. Uncertain geometry in robotics. IEEE Transactions on Robotics and Automation 4 (1). 23-31.
16. El-Hakim, S., Boulanger, P., Blais, F., and Beraldin, J.-A. 1997. Sensor based creation of indoor virtual environment models. In Proc. of the 4th Internetional Conference on Virtual Systems and Multimedia (VSMM), Geneva, Switzerland.
17. Elfes, A. 1987. Sonar-based real-world mapping and navigation. IEEE Journal of Robotics and Automation RA- 3 (3). 249-265.
18. Folkesson, J. and Christensen, H. I. 2004a. Graphical SLAM: A self-correcting map. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), New Orleans, USA.
19. Folkesson, J. and Christensen, H. I. 2004b. Robust SLAM. In Proceedings of the International Symposium on Autonomous Vehicles, Lisboa, PT.
20. Frese, U. 2004. An O(logn) Algorithm for Simultaneous Localization and Mapping of Mobile Robots in Indoor Environments. PhD thesis, University of Erlangen-Nürnberg, Germany.
21. Frese, U. and Hirzinger, G. 2001. Simultaneous localization and mapping - a discussion. In Proceedings of the IJCAI Workshop on Reasoning with Uncertainty in Robotics, pp. 17-26, Seattle, WA.
22. Frese, U., Larsson, P., and Duckett, T. 2005. A Multigrid Algorithm for Simultaneous Localization and Mapping. In IEEE Transactions on Robotics, 21 (2). 1-12.
23. Golfarelli, M., Maio, D., and Rizzi, S. 1998. Elastic correction of dead-reckoning errors in map building. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 905-911, Victoria, Canada.
24. Guivant, J. and Masson, F. 2005. Using absolute non-gaussian non-white observations in Gaussian SLAM. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain.
25. Guivant, J. and Nebot, E. 2001. Optimization of the simultaneous localization and map building algorithm for real time implementation. IEEE Transactions of Robotics and Automation 17 (3). 242-257.
26. Gutmann, J.-S. and Konolige, K. 2000. Incremental mapping of large cyclic environments. In Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA).
27. Gutmann, J.-S. and Nebel, B. 1997. Navigation mobiler roboter mit laserscans. In Autonome Mobile Systeme. Springer Verlag, Berlin. In German.
28. Hähnel, D., Burgard, W., Wegbreit, B., and Thrun, S. 2003a. Towards lazy data association in SLAM. In Proceedings of the 11th International Symposium of Robotics Research (ISRR'03), Sienna, Italy. Springer.
29. Hähnel, D., Schulz, D., and Burgard, W. 2003b. Mobile robot mapping in populated environments. Autonomous Robots 17 (7). 579-598.
30. Iocchi, L., Konolige, K., and Bajracharya, M. 2000. Visually realistic mapping of a planar environment with stereo. In Proceesings of the 2000 International Symposium on Experimental Robotics, Waikiki, Hawaii.
31. Julier, S. and Uhlmann, J. K. 2000. Building a million beacon map. In Proceedings of the SPIE Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. #4571.
32. Konecny, G. 2002. Geoinformation: Remote Sensing, Photogrammetry and Geographical Information Systems. Taylor & Francis.
33. Konolige, K. 2004. Large-scale map-making. In Proceedings of the AAAI National Conference on Artificial Intelligence, pp. 457-463, San Jose, CA. AAAI.
34. Kuipers, B., Modayil, J., Beeson, P., MacMahon, M., and Savelli, F. 2004. Local metrical and global topological maps in the hybrid spatial semantic hierarchy. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), New Orleans.
35. Lawler, E. and Wood, D. 1966. Branch-and-bound methods: A survey. Operations Research 14: 699-719.
36. Leonard, J. J. and Durrant-Whyte, H. F. 1991. Mobile robot localization by tracking geometric beacons. IEEE Transactions on Robotics and Automation 7 (3). 376-382.
37. Leonard, J. and Newman, P. 2003. Consistent, convergent, and constant-time SLAM. In Proceedings of the IJCAI Workshop on Reasoning with Uncertainty in Robot Navigation, Acapulco, Mexico.
38. Leonard, J., Tardós, J., Thrun, S., and Choset, H. (eds) 2002. Workshop Notes of the ICRA Workshop on Concurrent Mapping and Localization for Autonomous Mobile Robots (W4). ICRA Conference, Washington, DC.
39. Levoy, M. 1999. The digital michelangelo project. In Proc. of the Second International Conference on 3D Imaging and Modeling.
40. Liu, Y. and Thrun, S. 2003. Results for outdoor-SLAM using sparse extended information filters. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).
41. Lu, F. and Milios, E. 1997. Globally consistent range scan alignment for environment mapping. Autonomous Robots 4: 333-349.
42. Montemerlo, M., Roy, N., and Thrun, S. 2003. Perspectives on standardization in mobile robot programming: The Carnegie Mellon navigation (CARMEN) toolkit. In Proceedings of the Conference on Intelligent Robots and Systems (IROS). Software package for download at www.cs.cmu.edu/%7Ecarmen.
43. Montemerlo, M. and Thrun, S. 2004. Large-scale robotic 3- d mapping of urban structures. In Proceedings of the International Symposium on Experimental Robotics (ISER), Singapore. Springer Tracts in Advanced Robotics (STAR).
44. Montemerlo, M., Thrun, S., Koller, D., and Wegbreit, B. 2002. Fast SLAM: A factored solution to the simultaneous localization and mapping problem. In Proceedings of the AAAI National Conference on Artificial Intelligence, Edmonton, Canada. AAAI.
45. Moravec, H. P. 1988. Sensor fusion in certainty grids for mobile robots. AI Magazine 9 (2). 61-74.
46. Moutarlier, P. and Chatila, R. 1989a. An experimental system for incremental environment modeling by an autonomous mobile robot. In 1st International Symposium on Experimental Robotics, Montreal.
47. Moutarlier, P. and Chatila, R. 1989b. Stochastic multisensory data fusion for mobile robot location and environment modeling. In 5th Int. Symposium on Robotics Research, Tokyo.
48. Narendra, P. and Fukunaga, K. 1977. A branch and bound algorithm for feature subset selection. IEEE Transactions on Computers 26 (9). 914-922.
49. Newman, P. 2000. On the Structure and Solution of the Simultaneous Localisation and Map Building Problem. PhD thesis, Australian Centre for Field Robotics, University of Sydney, Sydney, Australia.
50. Newman, P. M. and Durrant-Whyte, H. F. 2001. A new solution to the simultaneous and map building (SLAM) problem. In Proceedings of SPIE.
51. Newman, P. and Rikoski, J. L. R. 2003. Towards constant-time slam on an autonomous underwater vehicle using synthetic aperture sonar. In Proceedings of the International Symposium of Robotics Research, Sienna, Italy.
52. Paskin, M. 2003. Thin junction tree filters for simultaneous localization and mapping. In Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence (IJCAI), Acapulco, Mexico. IJCAI.
53. Pearl, J. 1988. Probabilistic reasoning in intelligent systems: networks of plausible inference. Morgan Kaufmann Publishers, San Mateo, CA.
54. Pollefeys, M., Koch, R., and Gool, L. V. 1998. Self-calibration and metric reconstruction in spite of varying and unknown internal camera parameters. In Proceedings of the International Conference on Computer Vision, pp. 90-95, Bombay, India. IEEE.
55. Rusinkiewicz, S. and Levoy, M. 2001. Efficient variants of the ICP algorithm. In Proc. Third International Conference on 3D Digital Imaging and Modeling (3DIM), Quebec City, Canada. IEEE Computer Society.
56. Smith, R. and Cheeseman, P. 1986. On the representation and estimation of spatial uncertainty. International Journal of Robotics Research 5 (4). 56-68.
57. Smith, R., Self, M., and Cheeseman, P. 1990. Estimating uncertain spatial relationships in robotics. In Autonomous Robot Vehicles (eds Cox, I. and Wilfong, G.) pp. 167-193. Springer-Verlag.
58. Soatto, S. and Brockett, R. 1998. Optimal structure from motion: Local ambiguities and global estimates. In Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR), pp. 282-288.
59. Tardós, J., Neira, J., Newman, P., and Leonard, J. 2002. Robust mapping and localization in indoor environments using sonar data. International Journal of Robotics Research 21 (4). 311-330.
60. Teller, S., Antone, M., Bodnar, Z., Bosse, M., Coorg, S., Jethwa, M., and Master, N. 2001. Calibrated, registered images of an extended urban area. In Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR).
61. Thrun, S., Koller, D., Ghahramani, Z., Durrant-Whyte, H., and Ng, A. 2002. Simultaneous mapping and localization with sparse extended information filters. In Proceedings of the Fifth International Workshop on Algorithmic Foundations of Robotics (eds Boissonnat, J.-D., Burdick, J., Goldberg, K., and Hutchinson, S.). Nice, France.
62. Thrun, S. and Liu, Y. 2003. Multi-robot SLAM with sparse extended information filers. In Proceedings of the 11th International Symposium of Robotics Research (ISRR'03), Sienna, Italy. Springer.
63. Tomasi, C. and Kanade, T. 1992. Shape and motion from image streams under orthography: A factorization method. International Journal of Computer Vision 9 (2). 137-154.
64. Uhlmann, J., Lanzagorta, M., and Julier, S. 1999. The NASA mars rover: A test bed for evaluating applications of covariance intersection. In Proceedings of the SPIE 13th Annual Symposium in Aerospace/Defence Sensing, Simulation and Controls.
65. Wang, C.-C., Thorpe, C., and Thrun, S. 2003. Online simultaneous localization and mapping with detection and tracking of moving objects: Theory and results from a ground vehicle in crowded urban areas. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA).
66. Williams, S. B. 2001. Efficient Solutions to Autonomous Mapping and Navigation Problems. PhD thesis, ACFR, University of Sydney, Sydney, Australia.
67. Williams, S., Dissanayake, G., and Durrant-Whyte, H. 2001. Towards terrain-aided navigation for underwater robotics. Advanced Robotics 15 ( 5 ).