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Cited by 306

The DOI matches its Crossref record; 63 of the 63 references it cites were found in a registry or an index.

Exactly Sparse Delayed-State Filters for View-Based SLAM

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Eustice, Ryan M., Singh, Hanumant, Leonard, John J.·2006·IEEE Transactions on Robotics
DOI 10.1109/tro.2006.886264
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Abstract

This paper reports the novel insight that the simultaneous localization and mapping (SLAM) information matrix is exactly sparse in a delayed-state framework. Such a framework is used in view-based representations of the environment that rely upon scan-matching raw sensor data to obtain virtual observations of robot motion with respect to a place it has previously been. The exact sparseness of the delayed-state information matrix is in contrast to other recent feature-based SLAM information algorithms, such as sparse extended information filter or thin junction-tree filter, since these methods have to make approximations in order to force the feature-based SLAM information matrix to be sparse. The benefit of the exact sparsity of the delayed-state framework is that it allows one to take advantage of the information space parameterization without incurring any sparse approximation error. Therefore, it can produce equivalent results to the full-covariance solution. The approach is validated experimentally using monocular imagery for two datasets: a test-tank experiment with ground truth, and a remotely operated vehicle survey of the RMS Titanic.

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Metadata

Authors
Eustice, R. M., Singh, H., & Leonard, J. J.
Venue
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2006-12
Volume
22
Issue
6
Pages
1100-1114
ISSN
1552-3098 (ISSN-L)
DOI
10.1109/tro.2006.886264
OpenAlex
W2101345862
Cited by
306
References
63
FWCI
45.08
Type
journal article
Language
en
Open access
green

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CoChat. (2026). Citation check: Exactly Sparse Delayed-State Filters for View-Based SLAM. https://app.cochat.ai/papers/10.1109/tro.2006.886264
The paper
Eustice, R. M., Singh, H., & Leonard, J. J. (2006). Exactly Sparse Delayed-State Filters for View-Based SLAM. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2006.886264

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