| Publication type: |
Article in Proceedings |
| Author: |
U. Frese, L. Schröder |
| Title: |
Closing a Million-Landmarks Loop |
| Book / Collection title: |
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing |
| Year published: |
2006 |
| Abstract: |
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. |
| Internet: |
http://www.informatik.uni-bremen.de/agebv/en/ClosingAMillionLandmarksLoop |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/freseiros06.pdf |
| Status: |
Reviewed |
| Last updated: |
28. 10. 2008 |
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