The DOI matches its Crossref record; 24 of the 24 references it cites were found in a registry or an index.
Efficient Sparse Pose Adjustment for 2D mapping
Abstract
Pose graphs have become a popular representation for solving the simultaneous localization and mapping (SLAM) problem. A pose graph is a set of robot poses connected by nonlinear constraints obtained from observations of features common to nearby poses. Optimizing large pose graphs has been a bottleneck for mobile robots, since the computation time of direct nonlinear optimization can grow cubically with the size of the graph. In this paper, we propose an efficient method for constructing and solving the linear subproblem, which is the bottleneck of these direct methods. We compare our method, called Sparse Pose Adjustment (SPA), with competing indirect methods, and show that it outperforms them in terms of convergence speed and accuracy. We demonstrate its effectiveness on a large set of indoor real-world maps, and a very large simulated dataset. Open-source implementations in C++, and the datasets, are publicly available.
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Citations
Cites
Bundle Adjustment — A Modern Synthesis
Triggs, B., McLauchlan, P. F., Hartley, R. I., & Fitzgibbon, A. W. (2000) · Lecture Notes in Computer Science · doi:10.1007/3-540-44480-7_21 · Cited by 3,988
Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
Thrun, S., & Montemerlo, M. (2006) · The International Journal of Robotics Research · doi:10.1177/0278364906065387 · Cited by 689
Incremental mapping of large cyclic environments
Gutmann, J.-S., & Konolige, K. (2003) · Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375) · doi:10.1109/cira.1999.810068 · Cited by 568
Self-citationFrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
Konolige, K., & Agrawal, M. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2004832 · Cited by 532
Self-citationFast iterative alignment of pose graphs with poor initial estimates
Olson, E., Leonard, J., & Teller, S. (2006) · Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. · doi:10.1109/robot.2006.1642040 · Cited by 427
Real-time correlative scan matching
Olson, E. B. (2009) · 2009 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2009.5152375 · Cited by 361
Dynamic Maps for Long-Term Operation of Mobile Service Robots
Biber, P., & Duckett, T. (2005) · Robotics: Science and Systems I · doi:10.15607/rss.2005.i.003 · Cited by 334
Exactly Sparse Delayed-State Filters for View-Based SLAM
Eustice, R. M., Singh, H., & Leonard, J. J. (2006) · IEEE Transactions on Robotics · doi:10.1109/tro.2006.886264 · Cited by 306
A multilevel relaxation algorithm for simultaneous localization and mapping
Frese, U., Larsson, P., & Duckett, T. (2005) · IEEE Transactions on Robotics · doi:10.1109/tro.2004.839220 · Cited by 283
Cited by
iSAM2: Incremental smoothing and mapping using the Bayes tree
Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J. J., & Dellaert, F. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364911430419 · Cited by 1,362
A Tutorial on Graph-Based SLAM
Grisetti, G., Kummerle, R., Stachniss, C., & Burgard, W. (2010) · IEEE Intelligent Transportation Systems Magazine · doi:10.1109/mits.2010.939925 · Cited by 1,345
Self-citationA Review of Visual-LiDAR Fusion based Simultaneous Localization and Mapping
Debeunne, C., & Vivet, D. (2020) · Sensors · doi:10.3390/s20072068 · Cited by 386
A Comparative Analysis of LiDAR SLAM-Based Indoor Navigation for Autonomous Vehicles
Zou, Q., Sun, Q., Chen, L., Nie, B., & Li, Q. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3063477 · Cited by 321
An evaluation of 2D SLAM techniques available in Robot Operating System
Santos, J. M., Portugal, D., & Rocha, R. P. (2013) · 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) · doi:10.1109/ssrr.2013.6719348 · Cited by 254
Metadata
- Authors
- Konolige, K., Grisetti, G., Kümmerle, R., Burgard, W., Limketkai, B., & Vincent, R.
- Venue
- 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2010-10
- Pages
- 22-29
- OpenAlex
- W2005389775
- Cited by
- 395
- References
- 24
- FWCI
- 33.21
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Konolige, K., Grisetti, G., Kümmerle, R., Burgard, W., Limketkai, B., & Vincent, R. (2010). Efficient Sparse Pose Adjustment for 2D mapping. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2010.5649043
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