Optimizing the efficiency of the sub-map technique for large-scale simultaneous localization and mapping. (March 2015)

• Record Type: Journal Article
• Authors: Ihemadu, Okechukwu Clifford; Naeem, Wasif; Ferguson, Stuart
• Is Part Of: Transactions of the Institute of Measurement and Control. Volume 37:Number 3(2015)
• Page Start: 329
• Page End: 344
• Publication Date: 2015-03
• Subjects: Extended Kalman filter -- simultaneous localization and mapping -- sub-map technique -- optimization -- invariant information -- error-correction process -- data association; Automatic control -- Periodicals; Measuring instruments -- Periodicals; Commande automatique -- Périodiques; Mesure -- Instruments -- Périodiques; 681.2
• DOI: 10.1177/0142331214538899
• Languages: English
• ISSNs: 0142-3312

Abstract

A technique for optimizing the efficiency of the sub-map method for large-scale simultaneous localization and mapping (SLAM) is proposed. It optimizes the benefits of the sub-map technique to improve the accuracy and consistency of an extended Kalman filter (EKF)-based SLAM. Error models were developed and engaged to investigate some of the outstanding issues in employing the sub-map technique in SLAM. Such issues include the size (distance) of an optimal sub-map, the acceptable error effect caused by the process noise covariance on the predictions and estimations made within a sub-map, when to terminate an existing sub-map and start a new one and the magnitude of the process noise covariance that could produce such an effect. Numerical results obtained from the study and an error-correcting process were engaged to optimize the accuracy and convergence of the Invariant Information Local Sub-map Filter previously proposed. Applying this technique to the EKF-based SLAM algorithm (a) reduces the computational burden of maintaining the global map estimates and (b) simplifies transformation complexities and data association ambiguities usually experienced in fusing sub-maps together. A Monte Carlo analysis of the system is presented as a means of demonstrating the consistency and efficacy of the proposed technique.