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

Francesco Conte (1) , Agostino Martinelli (2)

1 DIIIE / UNIVAQ - Dipartimento di Ingegneria industriale e dell'informazione e di economia
2 E-MOTION - Geometry and Probability for Motion and Action

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.

Domaines: Robotique [cs.RO]

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