Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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2D Pose Nodes Sampling Heuristic for Fast Loop Closing

빠른 루프 클로징을 위한 2D 포즈 노드 샘플링 휴리스틱

  • Lee, Jae-Jun (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Ryu, Jee-Hwan (School of Mechanical Engineering, Korea University of Technology and Education)
  • 이재준 (한국기술교육대학교 기계공학과) ;
  • 유지환 (한국기술교육대학교 기계공학과)
  • Received : 2016.06.30
  • Accepted : 2016.10.28
  • Published : 2016.12.01
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Abstract

The graph-based SLAM (Simultaneous Localization and Mapping) approach has been gaining much attention in SLAM research recently thanks to its ability to provide better maps and full trajectory estimations when compared to the filtering-based SLAM approach. Even though graph-based SLAM requires batch processing causing it to be computationally heavy, recent advancements in optimization and computing power enable it to run fast enough to be used in real-time. However, data association problems still require large amount of computation when building a pose graph. For example, to find loop closures it is necessary to consider the whole history of the robot trajectory and sensor data within the confident range. As a pose graph grows, the number of candidates to be searched also grows. It makes searching the loop closures a bottleneck when solving the SLAM problem. Our approach to alleviate this bottleneck is to sample a limited number of pose nodes in which loop closures are searched. We propose a heuristic for sampling pose nodes that are most advantageous to closing loops by providing a way of ranking pose nodes in order of usefulness for closing loops.

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References

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