ROSLAM-A faster algorithm for simultaneous localization and mapping (SLAM)

Teng Wei Huang; Chen-Chien James Hsu; Wei-Yen Wang; Hansjoerg (Jacky) Baltes

doi:10.1007/978-3-319-31293-4_6

ROSLAM-A faster algorithm for simultaneous localization and mapping (SLAM)

Teng Wei Huang, Chen-Chien James Hsu, Wei-Yen Wang, Hansjoerg (Jacky) Baltes

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Computationally efficient SLAM (CESLAM) has been proposed to solve simultaneous localization and mapping problem in real-time design. CESLAM first uses the landmark measurement with the maximum likelihood to update the particle states and then update their associated landmarks later. This improves the accuracy of localization and mapping by avoiding unnecessary comparisons. This paper describes a modified version of CESLAM called rapidly operations SLAM (ROSLAM) which improves the runtime even further. We present an empirical evaluation of ROSLAM in a simulated environment which shows that it speeds up previous well known algorithms by 100 %.

Original language	English
Title of host publication	Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
Editors	Fakhri Karray, Jong-Hwan Kim, Hyun Myung, Jun Jo, Peter Sincak
Publisher	Springer Verlag
Pages	65-74
Number of pages	10
ISBN (Print)	9783319312910
DOIs	https://doi.org/10.1007/978-3-319-31293-4_6
Publication status	Published - 2017 Jan 1
Event	4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 - Bucheon, Korea, Republic of Duration: 2015 Dec 14 → 2015 Dec 16

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	447
ISSN (Print)	2194-5357

Other

Other	4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
Country	Korea, Republic of
City	Bucheon
Period	15/12/14 → 15/12/16

Fingerprint

Keywords

CESLAM
Extended kalman filter
FastSLAM
Particle filter

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science(all)

Cite this

Huang, T. W., Hsu, C-C. J., Wang, W-Y., & Baltes, H. J. (2017). ROSLAM-A faster algorithm for simultaneous localization and mapping (SLAM). In F. Karray, J-H. Kim, H. Myung, J. Jo, & P. Sincak (Eds.), Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications (pp. 65-74). (Advances in Intelligent Systems and Computing; Vol. 447). Springer Verlag. https://doi.org/10.1007/978-3-319-31293-4_6

ROSLAM-A faster algorithm for simultaneous localization and mapping (SLAM). / Huang, Teng Wei; Hsu, Chen-Chien James ; Wang, Wei-Yen ; Baltes, Hansjoerg (Jacky).

Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications. ed. / Fakhri Karray; Jong-Hwan Kim; Hyun Myung; Jun Jo; Peter Sincak. Springer Verlag, 2017. p. 65-74 (Advances in Intelligent Systems and Computing; Vol. 447).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Huang, TW, Hsu, C-CJ , Wang, W-Y & Baltes, HJ 2017, ROSLAM-A faster algorithm for simultaneous localization and mapping (SLAM). in F Karray, J-H Kim, H Myung, J Jo & P Sincak (eds), Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications. Advances in Intelligent Systems and Computing, vol. 447, Springer Verlag, pp. 65-74, 4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015, Bucheon, Korea, Republic of, 15/12/14. https://doi.org/10.1007/978-3-319-31293-4_6

Huang TW, Hsu C-CJ , Wang W-Y , Baltes HJ. ROSLAM-A faster algorithm for simultaneous localization and mapping (SLAM). In Karray F, Kim J-H, Myung H, Jo J, Sincak P, editors, Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications. Springer Verlag. 2017. p. 65-74. (Advances in Intelligent Systems and Computing). https://doi.org/10.1007/978-3-319-31293-4_6

Huang, Teng Wei ; Hsu, Chen-Chien James ; Wang, Wei-Yen ; Baltes, Hansjoerg (Jacky). / ROSLAM-A faster algorithm for simultaneous localization and mapping (SLAM). Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications. editor / Fakhri Karray ; Jong-Hwan Kim ; Hyun Myung ; Jun Jo ; Peter Sincak. Springer Verlag, 2017. pp. 65-74 (Advances in Intelligent Systems and Computing).

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Access to Document

10.1007/978-3-319-31293-4_6