Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Learning Deployable Navigation Policies at Kilometer Scale from a Single Traversal

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be prohibitively costly to obtain on robots in the real world. We present an approach for efficiently learning goal-directed navigation policies on a mobile robot, from only a single coverage traversal of recorded data. The navigation agent learns an effective policy over a diverse action space in a large heterogeneous environment consisting of more than 2km of travel, through buildings and outdoor regions that collectively exhibit large variations in visual appearance, self-similarity, and connectivity. We compare pretrained visual encoders that enable precomputation of visual embeddings to achieve a throughput of tens of thousands of transitions per second at training time on a commodity desktop computer, allowing agents to learn from millions of trajectories of experience in a matter of hours. We propose multiple forms of computationally efficient stochastic augmentation to enable the learned policy to generalise beyond these precomputed embeddings, and demonstrate successful deployment of the learned policy on the real robot without fine tuning, despite environmental appearance differences at test time. The dataset and code required to reproduce these results and apply the technique to other datasets and robots is made publicly available at rl-navigation.github.io/deployable

SenseCam image localisation using hierarchical SURF trees

The SenseCam is a wearable camera that automatically takes photos of the wearer's activities, generating thousands of images per day. Automatically organising these images for efficient search and retrieval is a challenging task, but can be simplified by providing semantic information with each photo, such as the wearer's location during capture time. We propose a method for automatically determining the wearer's location using an annotated image database, described using SURF interest point descriptors. We show that SURF out-performs SIFT in matching SenseCam images and that matching can be done efficiently using hierarchical trees of SURF descriptors. Additionally, by re-ranking the top images using bi-directional SURF matches, location matching performance is improved further

Increasing the Efficiency of 6-DoF Visual Localization Using Multi-Modal Sensory Data

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many resource-constrained platforms. In this paper, we address the problem of performing real-time localization in large-scale 3D point cloud maps of ever-growing size. While most systems using multi-modal information reduce localization time by employing side-channel information in a coarse manner (eg. WiFi for a rough prior position estimate), we propose to inter-weave the map with rich sensory data. This multi-modal approach achieves two key goals simultaneously. First, it enables us to harness additional sensory data to localise against a map covering a vast area in real-time; and secondly, it also allows us to roughly localise devices which are not equipped with a camera. The key to our approach is a localization policy based on a sequential Monte Carlo estimator. The localiser uses this policy to attempt point-matching only in nodes where it is likely to succeed, significantly increasing the efficiency of the localization process. The proposed multi-modal localization system is evaluated extensively in a large museum building. The results show that our multi-modal approach not only increases the localization accuracy but significantly reduces computational time.Comment: Presented at IEEE-RAS International Conference on Humanoid Robots (Humanoids) 201

Modelling large motion events in fMRI studies of patients with epilepsy

EEG-correlated fMRI can provide localisation information on the generators of epileptiform discharges in patients with focal epilepsy. To increase the technique's clinical potential, it is important to consider ways of optimising the yield of each experiment while minimizing the risk of false-positive activation. Head motion can lead to severe image degradation and result in false-positive activation and is usually worse in patients than in healthy subjects. We performed general linear model fMRI data analysis on simultaneous EEG–fMRI data acquired in 34 cases with focal epilepsy. Signal changes associated with large inter-scan motion events (head jerks) were modelled using modified design matrices that include ‘scan nulling’ regressors. We evaluated the efficacy of this approach by mapping the proportion of the brain for which F-tests across the additional regressors were significant. In 95% of cases, there was a significant effect of motion in 50% of the brain or greater; for the scan nulling effect, the proportion was 36%; this effect was predominantly in the neocortex. We conclude that careful consideration of the motion-related effects in fMRI studies of patients with epilepsy is essential and that the proposed approach can be effective