Simultaneous localization and mapping: A feature-based probabilistic approach

Skrzypczyński, Piotr

doi:10.2478/v10006-009-0045-z

Abstract

This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major extensions to the basic EKF-SLAM method and some recent advances in SLAM are also presented.

References

Andrade-Cetto, J. and Sanfeliu, A. (2005). The effects of partial observability when building fully correlated maps, IEEE Transactions on Robotics 21(4): 771-777.10.1109/TRO.2004.842342
Search in Google Scholar
Andrade-Cetto, J., Vidal-Calleja, T. and Sanfeliu, A. (2005). Unscented transformation of vehicle states in slam, Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 323-328.
Search in Google Scholar
Arras, K. O., Tomatis, N., Jensen, B. T. and Siegwart, R. (2001). Multisensor on-the-fly localization: Precision and reliability for applications, Robotics and Autonomous Systems 34(2-3): 131-143.10.1016/S0921-8890(00)00117-2
Search in Google Scholar
Arulampalam, M. S., Maskell, S., Gordon, N. and Clapp, T. (2002). A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking, IEEE Transactions on Signal Processing 50(2): 174-187.10.1109/78.978374
Search in Google Scholar
Austin, D. and Jensfelt, P. (2000). Using multiple Gaussian hypotheses to represent probability distributions for mobile robot localization, Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, pp. 1036-1041.
Search in Google Scholar
Bailey, T. (2002). Mobile Robot Localisation and Mapping in Extensive Outdoor Environments, Ph.D. thesis, University of Sydney, Sydney.
Search in Google Scholar
Bailey, T., Nieto, J., Guivant, J., Stevens, M. and Nebot, E. (2006). Consistency of the EKF-SLAM algorithm, Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems, Beijing, China, pp. 3562-3567.
Search in Google Scholar
Bailey, T., Nieto, J. and Nebot, E. (2006). Consistency of the FastSLAM algorithm, Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pp. 424-429.
Search in Google Scholar
Bar-Shalom, Y., Li, X. R. and Kirubarajan, T. (2001). Estimation with Applications to Tracking and Navigation, Wiley, New York, NY.10.1002/0471221279
Search in Google Scholar
Bosse, M., Newman, P., Leonard, J., Soika, M., Feiten, W. and Teller, S. (2003). An atlas framework for scalable mapping, Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 1899-1906.
Search in Google Scholar
Castellanos, J. A., Neira, J. and Tardós, J. D. (2004). Limits to the consistency of the EKF-based SLAM, Preprints of the IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, (on CD-ROM).10.1016/S1474-6670(17)32063-3
Search in Google Scholar
Castellanos, J. A. and Tardós, J. D. (1999). Mobile Robot Localization andMap Building. A Multisensor Fusion Approach, Kluwer, Boston, MA.
Search in Google Scholar
Castellanos, J. A., Tardós, J. D. and Schmidt, G. (1997). Building a global map of the environment of a mobile robot: The importance of correlations, Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA, pp. 1053-1059.
Search in Google Scholar
Davison, A. J., Reid, I. D., Molton, N. D. and Stasse, O. (2007). MonoSLAM: Real-time single camera SLAM, IEEE Transactions on Pattern Analysis and Machine Intelligence 29(6): 1052-1067.10.1109/TPAMI.2007.104917431302
Search in Google Scholar
DiMarco, M., Garulli, A., Giannitrapani, A. and Vicino, A. (2004). A set-theoretic approach to dynamic robot localization and mapping, Autonomous Robots 16(1): 23-47.10.1023/B:AURO.0000008670.09004.ce
Search in Google Scholar
Dissanayake, G., Newman, P., Clark, S., Durrant-Whyte, H. F. and Csorba, M. (2001). A solution to the simultaneous localization and map building (SLAM) problem, IEEE Transactions on Robotics and Automation 17(3): 229-241.10.1109/70.938381
Search in Google Scholar
Estrada, C., Neira, J. and Tardós, J. D. (2005). Hierarchical SLAM: Real-time accurate mapping of large environments, IEEE Transactions on Robotics 21(4): 588-596.10.1109/TRO.2005.844673
Search in Google Scholar
Fox, D., Thrun, S., Burgard, W. and Dellaert, F. (2001). Particle filters for mobile robot localization, in A. Doucet (Ed.), Sequential Monte Carlo Methods in Practice, Springer, Berlin, pp. 499-516.10.1007/978-1-4757-3437-9_19
Search in Google Scholar
Gasós, J. and Rosetti, A. (1999). Uncertainty representation for mobile robots: Perception, modeling and navigation in unknown environments, Fuzzy Sets and Systems 107(1): 1-24.10.1016/S0165-0114(97)00321-7
Search in Google Scholar
Guivant, J. and Nebot, E. (2001). Optimization of the simultaneous localization and map-building algorithm for real-time implementation, IEEE Transactions on Robotics and Automation 17(3): 242-257.10.1109/70.938382
Search in Google Scholar
Huang, S. and Dissanayake, G. (2006). Convergence analysis for extended Kalman filter based slam, Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pp. 412-417.
Search in Google Scholar
Julier, S. J. and Uhlmann, J. K. (2001). A counter example to the theory of simultaneous localization and map building, Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, South Korea, pp. 4238-4243.
Search in Google Scholar
Kozłowski, K. and Pazderski, D. (2004). Modelling and control of a 4-wheel skid-steering mobile robot, International Journal of Applied Mathematics and Computer Science 14(4): 477-496.
Search in Google Scholar
Leonard, J. J. and Feder, H. J. S. (2000). A computationally efficient method for large-scale concurrent mapping and localization, Robotics Research: The Ninth International Symposium, Springer, London, pp. 169-179.
Search in Google Scholar
Lowe, D. G. (2004). Distinctive image features from scaleinvariant keypoints, International Journal of Computer Vision 60(2): 91-110.10.1023/B:VISI.0000029664.99615.94
Search in Google Scholar
Maybeck, P. S. (1979). Stochastic Models, Estimation, and Control, Academic Press, New York, NY.
Search in Google Scholar
Montemerlo, M. (2003). FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem with Unknown Data Association, Ph.D. thesis, Carnegie Mellon University, Pittsburgh, PA.
Search in Google Scholar
Neira, J. and Tardós, J. D. (2001). Data association in stochastic mapping using the joint compatibility test, IEEE Transactions on Robotics and Automation 17(6): 890-897.10.1109/70.976019
Search in Google Scholar
Newman, P. and Ho, K. (2005). SLAM-loop closing with visually salient features, Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 644-651.
Search in Google Scholar
Ortin, D., Neira, J. and Montiel, J. M. M. (2004). Relocation using laser and vision, Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 1505-1510.
Search in Google Scholar
Paz, L., Piniés, P., Tardós, J. D. and Neira, J. (2008). Large-scale 6-dof SLAM with stereo in hand, IEEE Transactions on Robotics 24(5): 946-957.10.1109/TRO.2008.2004637
Search in Google Scholar
Skrzypczyński, P. (2005). Uncertainty models of the vision sensors in mobile robot positioning, International Journal of Applied Mathematics and Computer Science 15(1): 73-88.
Search in Google Scholar
Skrzypczyński, P. (2006). Uncertain spatial knowledge management in a mobile robot architecture, Proceedings of the IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Heidelberg, Germany, pp. 420-425.
Search in Google Scholar
Skrzypczyński, P. (2007a). Perception Uncertainty Management in a Mobile Robot Navigation System, Dissertations, No. 407, Poznań University of Technology Press, (in Polish).
Search in Google Scholar
Skrzypczyński, P. (2007b). Spatial uncertainty management for simultaneous localization and mapping, Proceedings of the IEEE International Conference on Robotics and Automation, Rome, Italy, pp. 4050-4055.10.1109/ROBOT.2007.364101
Search in Google Scholar
Skrzypczyński, P. (2008). Fusing laser and vision data for perceptually rich environment description, Maintenance Problems (3): 57-67.
Search in Google Scholar
Smith, R., Self, M. and Cheeseman, P. (1990). Estimating uncertain spatial relationships in robotics, in G. W. I. Cox (Ed.), Autonomous Robot Vehicles, Springer, Berlin, pp. 167-193.10.1007/978-1-4613-8997-2_14
Search in Google Scholar

Simultaneous localization and mapping: A feature-based probabilistic approach

Abstract

Paradigm

My account