Abstract
During long-term operation graph-based SLAM methods suffer from unbounded growth of the pose graph and computational cost. To limit the graph size, various methods to reduce the graph have been studied in the past. In this paper we propose a criterion to reject poses, based on the difference between expected and real scan of the candidate. The performance of this reduction method is then evaluated in terms of error and computation time.
| Original language | English |
|---|---|
| Title of host publication | 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 644-647 |
| Number of pages | 4 |
| Volume | 2017-November |
| ISBN (Electronic) | 9784907764579 |
| DOIs | |
| Publication status | Published - 2017 Nov 10 |
| Event | 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan Duration: 2017 Sep 19 → 2017 Sep 22 |
Other
| Other | 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 |
|---|---|
| Country | Japan |
| City | Kanazawa |
| Period | 17/9/19 → 17/9/22 |
Keywords
- Pose-graph reduction
- SLAM
ASJC Scopus subject areas
- Computer Science Applications
- Control and Optimization
- Control and Systems Engineering
- Instrumentation
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Cite this
Cervantes, P., & Inoue, M. (2017). Performance evaluation of graph-reduction in SLAM through pose rejection. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 (Vol. 2017-November, pp. 644-647). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2017.8105681