Publicação
A complete frontier-based exploration method for Pose-SLAM
| Resumo: | In this paper we propose a complete frontier-based exploration method for Pose SLAM. The goal of current frontierbased exploration methods is to eliminate all frontiers in the environment map. This approach, however, does not meet the requirements of Pose SLAM mapping: besides arriving at a frontier free map, there is the need to close the loops in the environment. In fact, loop closing is instrumental to Pose SLAM, since the major corrections to the map result from adding place revisiting constraints. The exploration method we propose is said to be complete in the sense that all loops are guaranteed to be closed. In this paper, we also describe a hybrid map that supports our exploration scheme and detail all the mechanisms required to maintain it during exploration. The validity of the approach is demonstrated on a widely used dataset. |
|---|---|
| Autores principais: | Marques, Miguel |
| Outros Autores: | Carreira, Fernando; Calado, João Manuel Ferreira |
| Assunto: | Frontier-based exploration Pose SLAM Incremental Voronoi diagram Hybrid maps |
| Ano: | 2017 |
| País: | Portugal |
| Tipo de documento: | artigo |
| Tipo de acesso: | acesso restrito |
| Instituição associada: | Instituto Politécnico de Lisboa |
| Idioma: | inglês |
| Origem: | Repositório Científico do Instituto Politécnico de Lisboa |
| Resumo: | In this paper we propose a complete frontier-based exploration method for Pose SLAM. The goal of current frontierbased exploration methods is to eliminate all frontiers in the environment map. This approach, however, does not meet the requirements of Pose SLAM mapping: besides arriving at a frontier free map, there is the need to close the loops in the environment. In fact, loop closing is instrumental to Pose SLAM, since the major corrections to the map result from adding place revisiting constraints. The exploration method we propose is said to be complete in the sense that all loops are guaranteed to be closed. In this paper, we also describe a hybrid map that supports our exploration scheme and detail all the mechanisms required to maintain it during exploration. The validity of the approach is demonstrated on a widely used dataset. |
|---|