Computationally efficient algorithm for simultaneous localization and mapping (SLAM)

Cheng Kai Yang, Chen Chien Hsu, Yin Tien Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

FastSLAM is a popular method to solve the problem of simultaneous localization and mapping. However, when the number of landmarks present in real environments increases, there are excessive comparisons of the measurement with all the existing landmarks in particles. As a result, the execution speed would be too slow to achieve the objective of real-time design. As an attempt to solve this problem, this paper presents an enhanced architecture for FastSLAM called computationally efficient SLAM (CESLAM), where odometer information is considered for updating the robot's pose in particles. When a measurement has a maximum likelihood with the known landmark in the particle, the particle state is updated before updating the landmark estimates. Simulation results show that the proposed algorithm in this paper can overcome the problem of the time-consuming process due to unnecessary comparisons and improve the accuracy of localization and mapping.

Original languageEnglish
Title of host publication2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013
Pages328-332
Number of pages5
DOIs
Publication statusPublished - 2013 Aug 14
Event2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013 - Evry, France
Duration: 2013 Apr 102013 Apr 12

Publication series

Name2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013

Other

Other2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013
CountryFrance
CityEvry
Period13/4/1013/4/12

Keywords

  • Extended Kalman Filter
  • FastSLAM
  • Particle Filter

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

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  • Cite this

    Yang, C. K., Hsu, C. C., & Wang, Y. T. (2013). Computationally efficient algorithm for simultaneous localization and mapping (SLAM). In 2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013 (pp. 328-332). [6548759] (2013 10th IEEE International Conference on Networking, Sensing and Control, ICNSC 2013). https://doi.org/10.1109/ICNSC.2013.6548759