Linear SLAM: linearising the SLAM problems using submap joining

DOI10.1016/J.AUTOMATICA.2018.10.037MaRDI QIDQ1737643zbMATH OpenOpenAlexWikidataFDO

Authors Xianqiang Yang

Publication date 24 April 2019

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1809.06967

zbMATH Keywords

linear least squaressimultaneous localization and mapping (SLAM)D-SLAMfeature-based SLAMpose graph SLAMsubmap joining

Mathematics Subject Classification ID

Analysis of algorithms and problem complexity (68Q25) Large-scale systems (93A15) Automated systems (robots, etc.) in control theory (93C85) Least squares and related methods for stochastic control systems (93E24) Applications of graph theory to circuits and networks (94C15)

Abstract: The main contribution of this paper is a new submap joining based approach for solving large-scale Simultaneous Localization and Mapping (SLAM) problems. Each local submap is independently built using the local information through solving a small-scale SLAM; the joining of submaps mainly involves solving linear least squares and performing nonlinear coordinate transformations. Through approximating the local submap information as the state estimate and its corresponding information matrix, judiciously selecting the submap coordinate frames, and approximating the joining of a large number of submaps by joining only two maps at a time, either sequentially or in a more efficient Divide and Conquer manner, the nonlinear optimization process involved in most of the existing submap joining approaches is avoided. Thus the proposed submap joining algorithm does not require initial guess or iterations since linear least squares problems have closed-form solutions. The proposed Linear SLAM technique is applicable to feature-based SLAM, pose graph SLAM and D-SLAM, in both two and three dimensions, and does not require any assumption on the character of the covariance matrices. Simulations and experiments are performed to evaluate the proposed Linear SLAM algorithm. Results using publicly available datasets in 2D and 3D show that Linear SLAM produces results that are very close to the best solutions that can be obtained using full nonlinear optimization algorithm started from an accurate initial guess. The C/C++ and MATLAB source codes of Linear SLAM are available on OpenSLAM.

Recommendations

• Constrained submap algorithm for simultaneous localization and mapping
• Global Optimization for 2D SLAM Problem
• D-SLAM: decoupled localization and mapping for autonomous robots
• Square root SAM: simultaneous localization and mapping via square root information smoothing
• The nonlinearity structure of point feature SLAM problems with spherical covariance matrices

Cites work

• Dimensionality reduction for point feature SLAM problems with spherical covariance matrices

Cited in

(5)

• Constrained submap algorithm for simultaneous localization and mapping
• Simultaneous localisation and mapping in dynamic environments (SLAMIDE) with reversible data association
• Spatially-adaptive learning rates for online incremental SLAM
• Data association in \(O(n)\) for divide and conquer SLAM
• The nonlinearity structure of point feature SLAM problems with spherical covariance matrices

Describes a project that uses

Uses Software

• Matlab
• OpenSLAM
• g2o
• iSAM2
• GitHub
• SE-Sync

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