264 research outputs found

    Dimensionality reduction for point feature SLAM problems with spherical covariance matrices

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    © 2014 Elsevier Ltd. All rights reserved. The main contribution of this paper is the dimensionality reduction for multiple-step 2D point feature based Simultaneous Localization and Mapping (SLAM), which is an extension of our previous work on one-step SLAM (Wang et al.; 2013). It has been proved that SLAM with multiple robot poses and a number of point feature positions as variables is equivalent to an optimization problem with only the robot orientations as variables, when the associated uncertainties can be described using spherical covariance matrices. This reduces the dimension of original problem from 3m+2n to m only (where m is the number of poses and n is the number of features). The optimization problem after dimensionality reduction can be solved numerically using the unconstrained optimization algorithms. While dimensionality reduction may not provide computational saving for all nonlinear optimization problems, for some SLAM problems we can achieve benefits such as improvement on time consumption and convergence. For the special case of two-step SLAM when the orientation information from odometry is not incorporated, an algorithm that can guarantee to obtain the globally optimal solution (in the maximum likelihood sense) is derived. Simulation and experimental datasets are used to verify the equivalence between the reduced nonlinear optimization problem and the original full optimization problem, as well as the proposed new algorithm for obtaining the globally optimal solution for two-step SLAM

    A Spectral Learning Approach to Range-Only SLAM

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    We present a novel spectral learning algorithm for simultaneous localization and mapping (SLAM) from range data with known correspondences. This algorithm is an instance of a general spectral system identification framework, from which it inherits several desirable properties, including statistical consistency and no local optima. Compared with popular batch optimization or multiple-hypothesis tracking (MHT) methods for range-only SLAM, our spectral approach offers guaranteed low computational requirements and good tracking performance. Compared with popular extended Kalman filter (EKF) or extended information filter (EIF) approaches, and many MHT ones, our approach does not need to linearize a transition or measurement model; such linearizations can cause severe errors in EKFs and EIFs, and to a lesser extent MHT, particularly for the highly non-Gaussian posteriors encountered in range-only SLAM. We provide a theoretical analysis of our method, including finite-sample error bounds. Finally, we demonstrate on a real-world robotic SLAM problem that our algorithm is not only theoretically justified, but works well in practice: in a comparison of multiple methods, the lowest errors come from a combination of our algorithm with batch optimization, but our method alone produces nearly as good a result at far lower computational cost

    Comparison of two different objective functions in 2D point feature SLAM

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    © 2018 Elsevier Ltd This paper compares two different objective functions in 2D point feature Simultaneous Localization and Mapping (SLAM). It is shown that the objective function can have a significant impact on the convergence of the iterative optimization techniques used in SLAM. When Frobenius norm is adopted for the error term of the orientation part of odometry, the SLAM problem has much better convergence properties, as compared with that using the angle difference as the error term. For one-step case, we have proved that there is one and only one minimum to the SLAM problem, and strong duality always holds. For two-step case, strong duality always holds except when three very special conditions hold simultaneously (which happens with probability zero), thus the global optimal solution to primal SLAM problem can be obtained by solving the corresponding Lagrangian dual problem in most cases. Further, for arbitrary m-step cases, we also show using examples that much better convergence results can be obtained. Simulation examples are given to demonstrate the different convergence properties using two different objective functions

    Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

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    Vision-Aided Navigation for GPS-Denied Environments Using Landmark Feature Identification

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    In recent years, unmanned autonomous vehicles have been used in diverse applications because of their multifaceted capabilities. In most cases, the navigation systems for these vehicles are dependent on Global Positioning System (GPS) technology. Many applications of interest, however, entail operations in environments in which GPS is intermittent or completely denied. These applications include operations in complex urban or indoor environments as well as missions in adversarial environments where GPS might be denied using jamming technology. This thesis investigate the development of vision-aided navigation algorithms that utilize processed images from a monocular camera as an alternative to GPS. The vision-aided navigation approach explored in this thesis entails defining a set of inertial landmarks, the locations of which are known within the environment, and employing image processing algorithms to detect these landmarks in image frames collected from an onboard monocular camera. These vision-based landmark measurements effectively serve as surrogate GPS measurements that can be incorporated into a navigation filter. Several image processing algorithms were considered for landmark detection and this thesis focuses in particular on two approaches: the continuous adaptive mean shift (CAMSHIFT) algorithm and the adaptable compressive (ADCOM) tracking algorithm. These algorithms are discussed in detail and applied for the detection and tracking of landmarks in monocular camera images. Navigation filters are then designed that employ sensor fusion of accelerometer and rate gyro data from an inertial measurement unit (IMU) with vision-based measurements of the centroids of one or more landmarks in the scene. These filters are tested in simulated navigation scenarios subject to varying levels of sensor and measurement noise and varying number of landmarks. Finally, conclusions and recommendations are provided regarding the implementation of this vision-aided navigation approach for autonomous vehicle navigation systems

    Feature-Based SLAM: Why Simultaneous Localisation and Mapping?

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    A unifying probabilistic perspective for spectral dimensionality reduction: Insights and new models

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    We introduce a new perspective on spectral dimensionality reduction which views these methods as Gaussian Markov random fields (GRFs). Our unifying perspective is based on the maximum entropy principle which is in turn inspired by maximum variance unfolding. The resulting model, which we call maximum entropy unfolding (MEU) is a nonlinear generalization of principal component analysis. We relate the model to Laplacian eigenmaps and isomap. We show that parameter fitting in the locally linear embedding (LLE) is approximate maximum likelihood MEU. We introduce a variant of LLE that performs maximum likelihood exactly: Acyclic LLE (ALLE). We show that MEU and ALLE are competitive with the leading spectral approaches on a robot navigation visualization and a human motion capture data set. Finally the maximum likelihood perspective allows us to introduce a new approach to dimensionality reduction based on L1 regularization of the Gaussian random field via the graphical lasso
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