Divide and Conquer: EKF SLAM in $O(n)$
نویسندگان
چکیده
منابع مشابه
Divide and Conquer: EKF SLAM in O(n)
In this paper, we show that all processes associated with the move-sense-update cycle of extended Kalman filter (EKF) Simultaneous Localization and Mapping (SLAM) can be carried out in time linear with the number of map features. We describe Divide and Conquer SLAM, which is an EKF SLAM algorithm in which the computational complexity per step is reduced from O(n2 ) to O(n), and the total cost o...
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In this paper we show that all processes associated to the move-sense-update cycle of EKF SLAM can be carried out in time linear in the number of map features. We describe Divide and Conquer SLAM, an EKF SLAM algorithm where the computational complexity per step is reduced from O(n) to O(n) (the total cost of SLAM is reduced from O(n) to O(n)). In addition, the resulting vehicle and map estimat...
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In this paper we show that all processes associated to the move-sense-update cycle of EKF SLAM can be carried out in time linear in the number of map features. We describe Divide and Conquer SLAM, an EKF SLAM algorithm where the computational complexity per step is reduced from O(n) to O(n) (the total cost of SLAM is reduced from O(n) to O(n)). In addition, the resulting vehicle and map estimat...
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This paper presents a new generalisation of simultaneous localisation and mapping (SLAM). SLAM implementations based on extended Kalman filter (EKF) data fusion have traditionally relied on simple geometric models for defining landmarks. This limits EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The approach presented in this paper is a marriag...
متن کاملDivide and Conquer
An instance of the given problem is divided into easier instances of the same problem, which are solved recursively and then combined to create a solution to the original instance. Of course, divide and conquer is not suitable for every problem. A divide and conquer approach will only work if the problem is easily divided into a small number of easier sub-problems, and the solution to the entir...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2008
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2008.2004639