Continuous Probabilistic SLAM Solved via Iterated Conditional Modes

doi:10.1007/s11633-019-1186-7

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	Continuous Probabilistic SLAM Solved via Iterated Conditional Modes
	J. Gimenez; A. Amicarelli; J. M. Toibero; F. di Sciascio; R. Carelli
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:6 页码:838-850
摘要	This article proposes a simultaneous localization and mapping (SLAM) version with continuous probabilistic mapping (CP-SLAM), i.e., an algorithm of simultaneous localization and mapping that avoids the use of grids, and thus, does not require a discretized environment. A Markov random field (MRF) is considered to model this SLAM version with high spatial resolution maps. The mapping methodology is based on a point cloud generated by successive observations of the environment, which is kept bounded and representative by including a novel recursive subsampling method. The CP-SLAM problem is solved via iterated conditional modes (ICM), which is a classic algorithm with theoretical convergence over any MRF. The probabilistic maps are the most appropriate to represent dynamic environments, and can be easily implemented in other versions of the SLAM problem, such as the multi-robot version. Simulations and real experiments show the flexibility and excellent performance of this proposal.
关键词	Probabilistic simultaneous localization and mapping (SLAM) dynamic obstacles Markov random fields (MRF) iterated conditional modes (ICM) kernel estimator.
DOI	10.1007/s11633-019-1186-7
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42379
专题	学术期刊_Machine Intelligence Research
作者单位	Automatics Institute (INAUT), National University of San Juan - CONICET, San Juan J5400ARL, Argentina
推荐引用方式 GB/T 7714	J. Gimenez,A. Amicarelli,J. M. Toibero,et al. Continuous Probabilistic SLAM Solved via Iterated Conditional Modes[J]. International Journal of Automation and Computing,2019,16(6):838-850.
APA	J. Gimenez,A. Amicarelli,J. M. Toibero,F. di Sciascio,&R. Carelli.(2019).Continuous Probabilistic SLAM Solved via Iterated Conditional Modes.International Journal of Automation and Computing,16(6),838-850.
MLA	J. Gimenez,et al."Continuous Probabilistic SLAM Solved via Iterated Conditional Modes".International Journal of Automation and Computing 16.6(2019):838-850.

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