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Publikation

Closing a Million-Landmarks Loop

Udo Frese; Lutz Schröder
In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2006), October 9-15, Bejing, China, 2006.

Zusammenfassung

We present an improved version of the treemap SLAM algorithm which uses Cholesky factors for representing Gaussians and a Hierarchical Tree Partitioning algorithm derived from the established Kernighan-Lin heuristic for graph bisection. We demonstrate the algorithm's efficiency by mapping a simulated building with 1032271 landmarks. In the end, we close a million-landmarks loop in 21, providing an estimate for 10000 selected landmarks close to the robot, or in 442 for computing a full estimate.

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