Some Research Questions for SLAM in Deformable Environments

Huang, S; Chen, Y; Zhao, L; Zhang, Y; Xu, M

Some Research Questions for SLAM in Deformable Environments

Huang, S

Chen, Y

Zhao, L

Zhang, Y Xu, M

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, 00, pp. 7653-7660
Issue Date:: 2021-12-16

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Field	Value	Language
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178
dc.contributor.author	Chen, Y https://orcid.org/0000-0003-2756-7050
dc.contributor.author	Zhao, L https://orcid.org/0000-0003-4063-8183
dc.contributor.author	Zhang, Y
dc.contributor.author	Xu, M
dc.date	2021-09-27
dc.date.accessioned	2024-05-03T07:25:48Z
dc.date.available	2024-05-03T07:25:48Z
dc.date.issued	2021-12-16
dc.identifier.citation	2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, 00, pp. 7653-7660
dc.identifier.isbn	9781665417143
dc.identifier.issn	2153-0858
dc.identifier.issn	2153-0866
dc.identifier.uri	http://hdl.handle.net/10453/178630
dc.description.abstract	SLAM in deformable environments is a very challenging research topic. Some research works have been presented by different research groups in the past few years. However, there are still some challenging research questions remaining unanswered. This paper discusses some of these research questions focusing on the case when point features are used to describe the deformable environments. The SLAM problems are formulated as extensions of point feature based SLAM in static environments, including both optimisation based offline SLAM and filter based online SLAM. To illustrate the problems and questions more clearly, some concepts and results using simple 2D examples are presented. The MATLAB source codes of the results are made publicly available (https://github.com/cyb1212/DeformableSLAM2D.git) to help the readers understand the problems more clearly.
dc.language	en
dc.publisher	IEEE
dc.relation	http://purl.org/au-research/grants/arc/DP200100982
dc.relation.ispartof	2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
dc.relation.ispartof	2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
dc.relation.ispartofseries	IEEE International Conference on Intelligent Robots and Systems
dc.relation.isbasedon	10.1109/iros51168.2021.9635883
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Some Research Questions for SLAM in Deformable Environments
dc.type	Conference Proceeding
utslib.citation.volume	00
utslib.location.activity	Prague, Czech Republic
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/Strength - RI - Robotics Institute
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access	*
dc.date.updated	2024-05-03T07:25:46Z
pubs.finish-date	2021-10-01
pubs.publication-status	Published
pubs.start-date	2021-09-27
pubs.volume	00

Abstract:

SLAM in deformable environments is a very challenging research topic. Some research works have been presented by different research groups in the past few years. However, there are still some challenging research questions remaining unanswered. This paper discusses some of these research questions focusing on the case when point features are used to describe the deformable environments. The SLAM problems are formulated as extensions of point feature based SLAM in static environments, including both optimisation based offline SLAM and filter based online SLAM. To illustrate the problems and questions more clearly, some concepts and results using simple 2D examples are presented. The MATLAB source codes of the results are made publicly available (https://github.com/cyb1212/DeformableSLAM2D.git) to help the readers understand the problems more clearly.

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http://hdl.handle.net/10453/178630