Implementation issues and experimental evaluation of D-SLAM

Wang, Z; Huang, S; Dissanayake, G

Implementation issues and experimental evaluation of D-SLAM

Wang, Z Huang, S

Dissanayake, G

Permalink

Publication Type:: Conference Proceeding
Citation:: Springer Tracts in Advanced Robotics, 2006, 25 pp. 155 - 166
Issue Date:: 2006-09-27

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download full textAdobe PDF (2.13 MB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Wang, Z	en_US
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2006-09-27	en_US
dc.identifier.citation	Springer Tracts in Advanced Robotics, 2006, 25 pp. 155 - 166	en_US
dc.identifier.isbn	3540334521	en_US
dc.identifier.isbn	9783540334521	en_US
dc.identifier.issn	1610-7438	en_US
dc.identifier.uri	http://hdl.handle.net/10453/12668
dc.description.abstract	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.	en_US
dc.relation.ispartof	Springer Tracts in Advanced Robotics	en_US
dc.relation.isbasedon	10.1007/11736592_14	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Implementation issues and experimental evaluation of D-SLAM	en_US
dc.type	Conference Proceeding
utslib.citation.volume	25	en_US
utslib.for	0910 Manufacturing Engineering	en_US
dc.location.activity	Port Douglas, Australia	en_US
dc.location.activity	Port Douglas, AUSTRALIA
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	25	en_US

Abstract:

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.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/12668