Implementation issues and experimental evaluation of D-SLAM

Publication Type:
Conference Proceeding
Springer Tracts in Advanced Robotics, 2006, 25 pp. 155 - 166
Issue Date:
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D-SLAM algorithm first described in [1] allows SLAM to be decoupled into solving a non-linear static estimation problem for mapping and a threedimensional estimation problem for localization. This paper presents a new version of the D-SLAM algorithm that uses an absolute map instead of a relative map as presented in [1]. One of the significant advantages of D-SLAM algorithm is its O(N) computational cost where N is the total number of features (landmarks). The theoretical foundations of D-SLAM together with implementation issues including data association, state recovery, and computational complexity are addressed in detail. Evaluation of the D-SLAM algorithm is provided using both real experimental data and simulations. © Springer-Verlag Berlin/Heidelberg 2006.
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