A tree parameterization for efficiently computing maximum likelihood maps using gradient descent

Robotics: Science and Systems

Volumn 3, Issue , 2008, Pages 65-72

  Grisetti, Giorgio ^a   Stachniss, Cyrill ^a   Grzonka, Slawomir ^a   Burgard, Wolfram ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 84885083337     PISSN: None     EISSN: 2330765X     Source Type: Conference Proceeding    
DOI: 10.15607/rss.2007.iii.009     Document Type: Conference Paper

References (14)

1. M. Bosse, P.M. Newman, J.J. Leonard, and S. Teller. An ALTAS framework for scalable mapping. In Proc. of the IEEE Int. Conf. on Robotics & Automation, pages 1899-1906, Taipei, Taiwan, 2003.
2. T. Duckett, S. Marsland, and J. Shapiro. Fast, on-line learning of globally consistent maps. Autonomous Robots, 12 (3): 287-300, 2002.
3. C. Estrada, J. Neira, and J.D. Tardós. Hierachical slam: Real-time accurate mapping of large environments. IEEE Transactions on Robotics, 21 (4): 588-596, 2005.
4. U. Frese. Treemap: An o (logn) algorithm for indoor simultaneous localization and mapping. Autonomous Robots, 21 (2): 103-122, 2006.
5. U. Frese, P. Larsson, and T. Duckett. A multilevel relaxation algorithm for simultaneous localisation and mapping. IEEE Transactions on Robotics, 21 (2): 1-12, 2005.
6. J.-S. Gutmann and K. Konolige. Incremental mapping of large cyclic environments. In Proc. of the IEEE Int. Symp. on Comp. Intelligence in Robotics and Automation, pages 318-325, Monterey, CA, USA, 1999.
7. A. Howard, M.J. Matarić, and G. Sukhatme. Relaxation on a mesh: a formalism for generalized localization. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 1055-1060, 2001.
8. S. Julier, J. Uhlmann, and H. Durrant-Whyte. A new approach for filtering nonlinear systems. In Proc. of the American Control Conference, pages 1628-1632, Seattle, WA, USA, 1995.
9. J. Ko, B. Stewart, D. Fox, K. Konolige, and B. Limketkai. A practical, decision-theoretic approach to multi-robot mapping and exploration. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 3232-3238, Las Vegas, NV, USA, 2003.
10. J.J. Leonard and H.F. Durrant-Whyte. Mobile robot localization by tracking geometric beacons. IEEE Transactions on Robotics and Automation, 7 (4): 376-382, 1991.
11. F. Lu and E. Milios. Globally consistent range scan alignment for environment mapping. Autonomous Robots, 4: 333-349, 1997.
12. J. Neira and J.D. Tardós. Data association in stochastic mapping using the joint compatibility test. IEEE Transactions on Robotics and Automation, 17 (6): 890-897, 2001.
13. E. Olson, J.J. Leonard, and S. Teller. Fast iterative optimization of pose graphs with poor initial estimates. In Proc. of the IEEE Int. Conf. on Robotics & Automation, pages 2262-2269, 2006.
14. R. Smith, M. Self, and P. Cheeseman. Estimating uncertain spatial realtionships in robotics. In I. Cox and G. Wilfong, editors, Autonomous Robot Vehicles, pages 167-193. Springer Verlag, 1990.