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Publication type: Article in Proceedings
Author: U. Frese, T. Duckett
Title: A Multigrid Approach for Accelerating Relaxation-based SLAM
Book / Collection title: Proceedings of the IJCAI Workshop Reasoning with Uncertainty in Robotics
Page(s): 39 – 46
Year published: 2003
Abstract: This paper addresses the problem of simultaneous localisation and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from socalled multigrid methods used for solving partial differential equations. The approach overcomes the relatively slow convergence of previous relaxation methods because it optimizes the map at multiple levels of resolution. The resulting algorithm has an update time that is linear in the number of mapped features, even when closing very large loops, and offers advantages in handling non-linearities compared to previous approaches. Experimental comparisons with alternative algorithms using two well-known data sets are also presented.
Internet: http://www.informatik.uni-bremen.de/agebv/en/MLRSLAM
PDF Version: http://www.informatik.uni-bremen.de/agebv/downloads/published/freseijcai03.pdf
Keywords: SLAM simultaneous localization and mapping multilevel multigrid relaxation MLR
Note / Comment: (read Transactions paper instead)
Status: Reviewed
Last updated: 28. 10. 2008

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