Continuous Probabilistic SLAM Solved via Iterated Conditional Modes
文献类型：期刊论文
| 作者 | J. Gimenez; A. Amicarelli; J. M. Toibero; F. di Sciascio; R. Carelli |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2019 |
| 卷号 | 16期号:6页码:838-850 |
| 关键词 | Probabilistic simultaneous localization and mapping (SLAM) dynamic obstacles Markov random fields (MRF) iterated conditional modes (ICM) kernel estimator. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-019-1186-7 |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42379]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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