A Hybrid Filter-based and Graph-based approach to SLAM

Francesco Conte 1 Agostino Martinelli 2
2 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : This paper introduces a new approach to SLAM which combines an Information Filter and a non linear optimizer. The basic idea of the suggested technique is to use the Information Filter when the system non linearities are negligible, and to switch to the use of the non linear optimizer when the non linearities are not negligible. Extensive simulations are provided in order to evaluate the performance of the proposed approach. In particular, a comparison with the Exactly Sparse Delayed-state Filers (ESDF) technique is carried out.
Document type :
Conference papers
Liste complète des métadonnées

Cited literature [8 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-00544729
Contributor : Agostino Martinelli <>
Submitted on : Wednesday, February 23, 2011 - 11:06:01 AM
Last modification on : Thursday, October 11, 2018 - 8:48:02 AM
Document(s) archivé(s) le : Tuesday, May 24, 2011 - 2:40:39 AM

File

ContAgo.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00544729, version 1

Collections

Citation

Francesco Conte, Agostino Martinelli. A Hybrid Filter-based and Graph-based approach to SLAM. ROBIO, Dec 2010, China. pp.999. ⟨hal-00544729⟩

Share

Metrics

Record views

512

Files downloads

220