Exploiting Prior Information in GraphSLAM

摘要：

In this paper we present a general method for exploiting prior information to constrain the location of landmarks in GraphSLAM. Prior information can be obtained for many environments in many different ways. However, this information can be incomplete, out-of-date, or presented in a different form than that used by the robot. Therefore, we argue that prior information is most naturally modelled as sets of potential constraints that act between landmarks. We present an extension of GraphSLAM that incorporates these constraints. We illustrate the results in an experiment with a 3D laser scanner and demonstrate a significant improvement in performance.

作者: Martin P. Parsley Simon J. Julier

作者单位: Department of Computer Science,University College London,Gower Street,London,WC1E 6BT,UK

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2638-2643

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）