Performance evaluation of graph-reduction in SLAM through pose rejection

Pablo Cervantes; Masaki Inoue

doi:10.23919/SICE.2017.8105681

Performance evaluation of graph-reduction in SLAM through pose rejection

Pablo Cervantes, Masaki Inoue

Department of Applied Physics and Physico-Informatics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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	https://doi.org/10.23919/SICE.2017.8105681
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 Sept 19 → 2017 Sept 22

Other

Other	56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Country/Territory	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

Access to Document

10.23919/SICE.2017.8105681

Cite this

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 proceeding › Conference 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

@inproceedings{351299efa17546b6aa7e0e8c4becf54a,

title = "Performance evaluation of graph-reduction in SLAM through pose rejection",

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.",

keywords = "Pose-graph reduction, SLAM",

author = "Pablo Cervantes and Masaki Inoue",

year = "2017",

month = nov,

day = "10",

doi = "10.23919/SICE.2017.8105681",

language = "English",

volume = "2017-November",

pages = "644--647",

booktitle = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 ; Conference date: 19-09-2017 Through 22-09-2017",

}

TY - GEN

T1 - Performance evaluation of graph-reduction in SLAM through pose rejection

AU - Cervantes, Pablo

AU - Inoue, Masaki

PY - 2017/11/10

Y1 - 2017/11/10

N2 - 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.

AB - 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.

KW - Pose-graph reduction

KW - SLAM

UR - http://www.scopus.com/inward/record.url?scp=85044120371&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85044120371&partnerID=8YFLogxK

U2 - 10.23919/SICE.2017.8105681

DO - 10.23919/SICE.2017.8105681

M3 - Conference contribution

AN - SCOPUS:85044120371

VL - 2017-November

SP - 644

EP - 647

BT - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

Y2 - 19 September 2017 through 22 September 2017

ER -

Performance evaluation of graph-reduction in SLAM through pose rejection

Abstract

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this