Simultaneous Localization and Map Building Using Natural Features and Absolute Information

JOSE GUIVANT; FAVIO MASSON; EDUARDO NEBOT

ROBOTICS AND AUTONOMOUS SYSTEMS

ELSEVIER SCIENCE BV

Lugar: Amsterdam; Año: 2002 vol. 40 p. 79 - 90

0921-8890

This work presents real time implementation algorithms of Simultaneous Localization and Map Building (SLAM) with emphasis to outdoor land vehicle applications in large environments. It presents the problematic of outdoors navigation in areas with combination of feature and featureless regions. The aspect of feature detection and validation is investigated to reliably detect the predominant features in the environment. Aided SLAM algorithms are presented that incorporate absolute information in a consistent manner. The SLAM implementation uses the compressed filter algorithm to maintain the map with a cost proportional to number of landmarks in the local area. The information gathered in the local area requires a full SLAM update when the vehicle leaves the local area. Algorithms to reduce the full update computational cost are also presented. Finally, experimental results obtained with a standard vehicle running in unstructured outdoor environment are presented. © 2002 Elsevier Science B.V. All rights reserved.