Multi sensor map building based on sparse linear equations solver

Eijiro Takeuchi, Takashi Tsubouchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

This paper proposes fast map building algorithm for multiple modal exteroceptive(external) sensors based on trajectory optimization. To realize localization using multiple modal exteroceptive sensors needs consistent environment maps (landmark maps). Multiple sensor SLAM(Simultaneous Localization And Mapping) is one of solutions to build maps consistently. In implementation of SLAM, approximations of sensor model contribute to get speeded up the algorithm. However in several case, these approximations deteriorate quality of the map. This paper proposes fast and accurate map building algorithm using multiple modal sensors based on sparse linear equations solver. This algorithm needs less approximations-but computation speed is fast. In addition, application of measured data from multiple sensors to this algorithm is described.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages2511-2518
Number of pages8
ISBN (Print)9781424420582
DOIs
Publication statusPublished - 2008 Jan 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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