Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization

Rodríguez-Losada González, Diego and Puente Yusty, Paloma de la and Valero, Alberto and San Segundo Carrillo, Pablo and Hernando Gutiérrez, Miguel (2010). Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization. In: "7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)", 06/09/2011 - 08/09/2011, Lecce, Italia.

Description

Title: Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization
Author/s:
  • Rodríguez-Losada González, Diego
  • Puente Yusty, Paloma de la
  • Valero, Alberto
  • San Segundo Carrillo, Pablo
  • Hernando Gutiérrez, Miguel
Item Type: Presentation at Congress or Conference (Article)
Event Title: 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)
Event Dates: 06/09/2011 - 08/09/2011
Event Location: Lecce, Italia
Title of Book: Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)
Date: 2010
Subjects:
Freetext Keywords: mobile robots,robot navigation,optimization,robotic mapping
Faculty: E.U.I.T. Industrial (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Grid maps are a common environment representation in mobile robotics. Many Simultaneous Localization and Mapping (SLAM) solutions divide the global map into submaps, forming some kind of graph or tree to represent the structure of the environment, while the metric details are captured in the submaps. This work presents a novel algorithm that is able to compute a physically feasible relative pose between two overlapping grid maps. Our algorithm can be used for correspondence search (data association), but also for integrating negative information in a unified way. This paper proposes a discrepancy measure between two overlapping grid maps and its application in a quasi Newton optimization algorithm, with the hypothesis that minimizing such discrepancy could provide useful information for SLAM. Experimental evidence is provided showing the high potential of the algorithm.

More information

Item ID: 7917
DC Identifier: http://oa.upm.es/7917/
OAI Identifier: oai:oa.upm.es:7917
Official URL: http://www.ifac-papersonline.net/Detailed/43219.html
Deposited by: Memoria Investigacion
Deposited on: 26 Jul 2011 09:29
Last Modified: 20 Apr 2016 16:51
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