3D I-SLSJF: A consistent sparse local submap joining algorithm for building large-scale 3D Map

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dc.contributor.author Hu, Gibson en_US
dc.contributor.author Huang, Shoudong en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.editor IEEE Technical Committees en_US
dc.date.accessioned 2010-05-28T09:59:47Z
dc.date.available 2010-05-28T09:59:47Z
dc.date.issued 2009 en_US
dc.identifier 2009001932 en_US
dc.identifier.citation Hu Gibson, Huang Shoudong, and Dissanayake Gamini 2009, '3D I-SLSJF: A consistent sparse local submap joining algorithm for building large-scale 3D Map', IEEE, China, pp. 6040-6045. en_US
dc.identifier.issn 978-1-4244-3872-3 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/10822
dc.description.abstract This paper presents an efficient and reliable algorithm for autonomous robots to build large-scale three dimensional maps by combining small local submaps. The algorithm is a generalization of our recent work on two dimensional map joining algorithm a?? Iterated Sparse Local Submap Joining Filter (I-SLSJF). The 3D local submap joining problem is formulated as a least squares optimization problem and solved by Extended Information Filter (EIF) together with smoothing and iterations. The resulting information matrix is exactly sparse and this makes the algorithm efficient. The smoothing and iteration steps improve the accuracy and consistency of the estimate. The consistency and efficiency of 3D I-SLSJF is demonstrated by comparing the algorithm with some existing algorithms using computer simulations. en_US
dc.language English en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/CDC.2009.5399747 en_US
dc.title 3D I-SLSJF: A consistent sparse local submap joining algorithm for building large-scale 3D Map en_US
dc.parent Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation China en_US
dc.identifier.startpage 6040 en_US
dc.identifier.endpage 6045 en_US
dc.cauo.name FEIT.Faculty of Engineering & Information Technology en_US
dc.conference Verified OK en_US
dc.for 080605 en_US
dc.personcode 10197135 en_US
dc.personcode 040006 en_US
dc.personcode 011224 en_US
dc.percentage 100 en_US
dc.classification.name Decision Support and Group Support Systems en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE Conference on Decision and Control en_US
dc.date.activity 20091215 en_US
dc.location.activity Shanghai, China en_US
dc.description.keywords NA en_US
dc.staffid en_US
dc.staffid 011224 en_US

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