L-SLAM: reduced dimensionality FastSLAM with unknown data association
FastSLAM is one of the state-of-the-art approaches to the Simultaneous Localization and Mapping (SLAM) problem. In this paper, a new SLAM method is proposed, called LSLAM, which is a low dimension version of the FastSLAM family algorithms. Dimensionality reduction of the particle filter is proposed, achieving better accuracy with less or the same number of particles. Dimensionality reduction of this problem renders the algorithm suitable for high dimensionality problems, like 3-D SLAM where the L-SLAM can produce better results in less time. Unlike the FastSLAM algorithms that uses Extended Kalman Filters (EKF), the L-SLAM algorithm updates the particles using Kalman filters. A methodology of linearizing a planar SLAM problem of a rear drive car-like robot is presented. Experimental results based on real case scenarios using the Car Park datasets and simulated environment are presented . The advantages of the proposed method in comparison with the FastSLAM 1.0 and 2.0 methods in the planar SLAM problem are discussed.
Nikos Zikos Vassilios Petridis
Aristotle University of Thessaloniki Department of Electrical and Computer Engineering School of Engineering,Thessaloniki,Greece
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4074-4079
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）