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The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures

Thrun, Sebastian, Montemerlo, Michael·2006·The International Journal of Robotics Research
DOI 10.1177/0278364906065387
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Abstract

This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization techniques to SLAM problems. It transforms the SLAM posterior into a graphical network, representing the log-likelihood of the data. It then reduces this graph using variable elimination techniques, arriving at a lower-dimensional problems that is then solved using conventional optimization techniques. As a result, GraphSLAM can generate maps with 108 or more features. The paper discusses a greedy algorithm for data association, and presents results for SLAM in urban environments with occasional GPS measurements.

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Metadata

Authors
Thrun, S., & Montemerlo, M.
Venue
The International Journal of Robotics Research
Publisher
SAGE Publications
Published
2006-05
Volume
25
Issue
5-6
Pages
403-429
ISSN
  • 0278-3649 (ISSN-L)
  • 1741-3176
DOI
10.1177/0278364906065387
OpenAlex
W2024908906
Cited by
689
References
4
FWCI
28.55
Type
journal article
Language
en
Open access
closed
Licence
journals.sagepub.com/page/policies/text-and-data-mining-license (tdm)

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Thrun, S., & Montemerlo, M. (2006). The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. The International Journal of Robotics Research. https://doi.org/10.1177/0278364906065387

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