TY - GEN
T1 - Multi sensor map building based on sparse linear equations solver
AU - Takeuchi, Eijiro
AU - Tsubouchi, Takashi
PY - 2008/1/1
Y1 - 2008/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=69549108986&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549108986&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4651116
DO - 10.1109/IROS.2008.4651116
M3 - Conference contribution
AN - SCOPUS:69549108986
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2511
EP - 2518
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -