Quadtree-based ancestry tree maps for 2D scattered data SLAM. (4th March 2018)
- Record Type:
- Journal Article
- Title:
- Quadtree-based ancestry tree maps for 2D scattered data SLAM. (4th March 2018)
- Main Title:
- Quadtree-based ancestry tree maps for 2D scattered data SLAM
- Authors:
- Vallivaara, Ilari
Poikselkä, Katja
Kemppainen, Anssi
Röning, Juha - Abstract:
- Abstract : Abstract: In a typical Rao-Blackwellized particle filter Simultaneous localization and mapping (SLAM), each particle carries its own map. Ancestry tree maps are proposed in the literature to handle occupancy grid maps with a large memory footprint, allowing very large particle counts. This paper describes how quadtrees can be used to implement ancestry tree maps in scattered data SLAM. We introduce a logarithmic-time query method to provide a natural neighborhood-like local polygonal neighborhood. Further, we propose an efficient and simple-to-implement local interpolant utilizing the polygonal neighborhood, and show that the interpolant RMSE is comparable to Sibson interpolant. We combine the query method with an ancestry tree consisting of quadtrees to obtain an effective map representation for scattered data SLAM. With map size of n and number of particles P, we obtain an average case time complexity of per time step. The introduced approach is experimentally validated on magnetic field SLAM with real-world data, showing that the performance is in line with the derived time complexity. The literature suggests that with ancestry trees the memory consumption drops from O ( nP ) to in practice. Empirical data confirm that this seems to be the case also with scattered data SLAM.
- Is Part Of:
- Advanced robotics. Volume 32:Number 5(2018)
- Journal:
- Advanced robotics
- Issue:
- Volume 32:Number 5(2018)
- Issue Display:
- Volume 32, Issue 5 (2018)
- Year:
- 2018
- Volume:
- 32
- Issue:
- 5
- Issue Sort Value:
- 2018-0032-0005-0000
- Page Start:
- 215
- Page End:
- 230
- Publication Date:
- 2018-03-04
- Subjects:
- SLAM -- quadtree -- ancestry tree -- scattered data -- RBPF
Robotics -- Periodicals
Robotics -- Japan -- Periodicals
Robotics
Japan
Periodicals
629.89205 - Journal URLs:
- http://www.catchword.com/rpsv/cw/vsp/01691864/contp1.htm ↗
http://catalog.hathitrust.org/api/volumes/oclc/14883000.html ↗
http://www.tandfonline.com/toc/tadr20/current ↗
http://www.tandfonline.com/ ↗
http://firstsearch.oclc.org ↗
http://firstsearch.oclc.org/journal=0169-1864;screen=info;ECOIP ↗
http://www.ingentaselect.com/vl=16659242/cl=11/nw=1/rpsv/cw/vsp/01691864/contp1.htm ↗ - DOI:
- 10.1080/01691864.2018.1436468 ↗
- Languages:
- English
- ISSNs:
- 0169-1864
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - 0696.926500
British Library DSC - BLDSS-3PM
British Library STI - ELD Digital store - Ingest File:
- 6097.xml