18,376 research outputs found
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
LQG Online Learning
Optimal control theory and machine learning techniques are combined to
formulate and solve in closed form an optimal control formulation of online
learning from supervised examples with regularization of the updates. The
connections with the classical Linear Quadratic Gaussian (LQG) optimal control
problem, of which the proposed learning paradigm is a non-trivial variation as
it involves random matrices, are investigated. The obtained optimal solutions
are compared with the Kalman-filter estimate of the parameter vector to be
learned. It is shown that the proposed algorithm is less sensitive to outliers
with respect to the Kalman estimate (thanks to the presence of the
regularization term), thus providing smoother estimates with respect to time.
The basic formulation of the proposed online-learning framework refers to a
discrete-time setting with a finite learning horizon and a linear model.
Various extensions are investigated, including the infinite learning horizon
and, via the so-called "kernel trick", the case of nonlinear models
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