Performance evaluation of graph-reduction in SLAM through pose rejection

Pablo Cervantes, Masaki Inoue

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages644-647
Number of pages4
Volume2017-November
ISBN (Electronic)9784907764579
DOIs
Publication statusPublished - 2017 Nov 10
Event56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan
Duration: 2017 Sep 192017 Sep 22

Other

Other56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
CountryJapan
CityKanazawa
Period17/9/1917/9/22

Fingerprint

supersonic low altitude missile
Graph Reduction
Simultaneous Localization and Mapping
Rejection
rejection
Performance Evaluation
costs
evaluation
Graph in graph theory
Costs
Reduction Method
Computational Cost

Keywords

  • Pose-graph reduction
  • SLAM

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Control and Systems Engineering
  • Instrumentation

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

Performance evaluation of graph-reduction in SLAM through pose rejection. / Cervantes, Pablo; Inoue, Masaki.

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Vol. 2017-November Institute of Electrical and Electronics Engineers Inc., 2017. p. 644-647.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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, Institute of Electrical and Electronics Engineers Inc., pp. 644-647, 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017, Kanazawa, Japan, 17/9/19. https://doi.org/10.23919/SICE.2017.8105681
Cervantes P, Inoue M. 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. Institute of Electrical and Electronics Engineers Inc. 2017. p. 644-647 https://doi.org/10.23919/SICE.2017.8105681
Cervantes, Pablo ; Inoue, Masaki. / Performance evaluation of graph-reduction in SLAM through pose rejection. 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Vol. 2017-November Institute of Electrical and Electronics Engineers Inc., 2017. pp. 644-647
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