Udo Frese and Tom Duckett

A Multigrid Approach for Accelerating Relaxation-based SLAM

Proceedings of the IJCAI Workshop on Reasoning with Uncertainty in Robotics (RUR 2003)


Abstract

This paper addresses the problem of simultaneous localisation and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from so-called multigrid methods used for solving partial differential equations. The approach overcomes the relatively slow convergence of previous relaxation methods because it optimizes the map at multiple levels of resolution. The resulting algorithm has an update time that is linear in the number of mapped features, even when closing very large loops, and offers advantages in handling non-linearities compared to previous approaches. Experimental comparisons with alternative algorithms using two well-known data sets are also presented.

Download

Paper: [pdf]

Bibtex 

@INPROCEEDINGS{Frese:2003,
   AUTHOR =       "Udo Frese and Tom Duckett",
   TITLE =        "A Multigrid Approach for Accelerating Relaxation-based {SLAM}",
   BOOKTITLE =    "Proc.\ IJCAI Workshop on Reasoning with Uncertainty in Robotics (RUR 2003)",
   YEAR =         "2003",
   PAGES =        "39-46",
   ADDRESS =      "Acapulco, Mexico",
   DATE =         "August 9",
}