Unscented FastSLAM: A robust and efficient solution to the SLAM problem

IEEE Transactions on Robotics

Volumn 24, Issue 4, 2008, Pages 808-820

  Kim, Chanki ^a   Sakthivel, Rathinasamy ^a   Chung, Wan Kyun ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

Author keywords

FastSLAM; Improved proposal distribution; Jacobian; Linearization; Rao Blackwellized particle filter (RBPF); Scaled unscented transformation (SUT); Simultaneous localization and mapping (SLAM); Unscented Kalman filter (UKF); Unscented particle filter (UPF)

Indexed keywords

ESTIMATION; JACOBIAN MATRICES; TARGET TRACKING; WAVE FILTERS;

BENCHMARK DATASET; EFFICIENT SOLUTIONS; ESTIMATION ACCURACIES; FASTSLAM; IMPROVED PROPOSAL DISTRIBUTION; JACOBIAN; LINEAR APPROXIMATIONS; LINEARIZATION; NEW ALGORITHM; NON LINEAR RELATIONS; NON-LINEAR FUNCTIONS; PARTICLE FILTERING; RAO--BLACKWELLIZED PARTICLE FILTER (RBPF); SCALED UNSCENTED TRANSFORMATION (SUT); SIMULATION RESULTS; SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM); SLAM PROBLEM; UNSCENTED KALMAN FILTER (UKF); UNSCENTED PARTICLE FILTER (UPF); UNSCENTED TRANSFORMATION;

MATHEMATICAL TRANSFORMATIONS;

EID: 50649085675     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.924946     Document Type: Article

References (32)

1. H. Durrant-Whyte and T. Bailey, "Simultaneous localization and mapping: Part I," IEEE Robot. Autom. Mag., vol. 13, no. 2, pp. 99-108, Jun. 2006.
2. T. Bailey and H. Durrant-Whyte, "Simultaneous localization and mapping: Part II," IEEE Robot. Autom. Mag., vol. 13, no. 3, pp. 108-117, Sep. 2006.
3. R. Martinez-Cantin and J. A. Castellanos, "Unscented SLAM for large-scale outdoor environments," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2005, pp. 328-333.
4. S. Huang and G. Dissanayake, "Convergence and consistency analysis for extended Kalman filter based SLAM," IEEE Trans. Robot., vol. 23, no. 5, pp. 1036-1049, Oct. 2007.
5. R. Martinez-Cantin and J. A. Castellanos, "Bounding uncertainty in EKFSLAM: The robocentric local approach," in Proc. IEEE Int. Conf. Robot. Autom., 2006, pp. 430-435.
6. J. A. Castellanos, J. Neira, and J. D. Tardos, "Limits to the consistency of EKF-based SLAM," in Proc. 5th IFAC Symp. Intell. Auton. Vehicles, Lisbon, Portugal, Jul. 2004, pp. 1244-1249.
7. T. Bailey, J. Nieto, J. Guivant, M. Stevens, and E. Nebot, "Consistency of the EKF-SLAM algorithm," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2006, pp. 3562-3568.
8. T. Bailey, J. Nieto, and E. Nebot, "Consistency of the FastSLAM algorithm," in Proc. IEEE Int. Conf. Robot. Autom., 2006, pp. 424-429.
9. J. A. Castellanos, R. Martinez-Cantin, J. D. Tardos, and J. Neira, "Robocentric map joining: Improving the consistency of EKF-SLAM," Robot. Auton. Syst., vol. 55, pp. 21-29, 2007.
10. Y. Bar Sahlom, X. R. Li, and T. Kirubarajan, EstimationWith Applications to Tracking and Navigation. New York: Wiley, 2001.
11. J. D. Tardos, J. Neira, P. M. Newman, and J. J. Leonard, "Robust mapping and localization in indoor environments using sonar data," Int. J. Robot. Res., vol. 21, no. 4, pp. 311-330, 2002.
12. C. Estrada, J. Neira, and J. D. Tardos, "Hierarchical SLAM: Real-time accurate mapping of large environments," IEEE Trans. Robot., vol. 21, no. 4, pp. 588-596, Aug. 2005.
13. S. Julier, J. Uhlmann, and H. F. Durrant-Whyte, "A new method for the nonlinear transformation of means and covariances in filters and estimators," IEEE Trans. Autom. Control, vol. 45, no. 3, pp. 477-482, Mar. 2000.
14. S. Julier and J. K. Uhlmann, "A counter example to the theory of simultaneous localization and map building," in Proc. IEEE Int. Conf. Robot. Autom., 2001, pp. 4238-4243.
15. S. Julier and J. K. Uhlmann, "Unscented filtering and nonlinear estimation," Proc. IEEE, vol. 92, no. 3, pp. 401-422, Mar. 2004.
16. S. Julier, "The scaled unscented transformation," in Proc. Amer. Control Conf., 2002, pp. 4555-4559.
17. R. Merwe, A. Doucet, N. Freitas, and E. Wan, "The unscented particle filter," Cambridge Univ., Eng. Dep., Cambridge, U.K., Tech. Rep. CUED/F-INFENG/TR 380. 2000.
18. K. Murphy, "Bayesian map learning in dynamic environments," in Neural Information Proceedings System (NIPS). Cambridge, MA: MIT Press, 1999.
19. R. Martinez-Cantin, N. de Freitas, and J. A. Castellanos, "Analysis of particle methods for simultaneous robot localization and mapping and a new algorithm: Marginal-SLAM," in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 2415-2420.
20. K. R. Beevers and W. H. Huang, "Fixed-lag sampling strategies for particle filtering SLAM," in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 2433-2438.
21. M. Montemerlo and S. Thrun, "Simultaneous localization and mapping with unknown data association using FastSLAM," in Proc. IEEE Int. Conf. Robot. Autom., 2003, pp. 1985-1991.
22. M. Montemerlo, "FastSLAM: A factored solution to the simultaneous localization and mapping problem with unknown data association," Ph.D. dissertation, Carnegie Mellon Univ., Pittsburgh, PA, 2003,
23. C. Kim, R. Sakthivel, and W.K. Chung, "Unscented FastSLAM: A robust algorithm for the simultaneous localization and mapping problem," in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 2439-2445.
24. X. Wang and H. Zhang, "A UPF-UKF framework for SLAM," in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 1664-1669.
25. S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics. Cambridge, MA: MIT Press, 2005.
26. G. Grisetti, C. Stachniss, and W. Burgard, "Improved techniques for grid mapping with Rao-Blackwellized particle filters," IEEE Trans. Robot., vol. 23, no. 1, pp. 34-46, Feb. 2007.
27. P. Beeson, A. Murarka, and B. Kuipers, "Adapting proposal distributions for accurate, efficient mobile robot localization," in Proc. IEEE Int. Conf. Robot. Autom., 2006, pp. 49-55.
28. T. D. Barfoot, "Online visual motion estimation using FastSLAM with SIFT features," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syt., 2005, pp. 579-585.
29. R. Merwe, "Sigma-point Kalman filters for probabilistic inference in dynamic state-space models," Ph.D. dissertation, OGI School of Sci. & Eng., Oregon Health and Sci. Univ., Portland, OR, Apr. 2004.
30. A. Doucet, N. de Freitas, and N. Gordan, Sequential Monte Carlo Methods in Practice. New York: Springer-Verlag, 2001.
31. (2008, Jun.). [Online]. Available: http://www-personal.acfr.usyd.edu.au/ tbailey/software/index.html
32. J. Choi, S. Ahn, M. Choi, and W. K. Chung, "Metric SLAM in home environment with visual objects and sonar features," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syt., 2006, pp. 4048-4053.