Sparse Extended Information Filters: Insights into Sparsification
dc.contributor.author | Eustice, Ryan M. | en_US |
dc.contributor.author | Walter, Matthew R. | en_US |
dc.contributor.author | Leonard, John J. | en_US |
dc.date.accessioned | 2011-08-18T18:24:35Z | |
dc.date.available | 2011-08-18T18:24:35Z | |
dc.date.issued | 2005-08-02 | en_US |
dc.identifier.citation | Eustice, R. ; Walter, M. ; Leonard, J. (2005). "Sparse Extended Information Filters: Insights into Sparsification." Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems: 3281-3288. <http://hdl.handle.net/2027.42/86045> | en_US |
dc.identifier.uri | https://hdl.handle.net/2027.42/86045 | |
dc.description.abstract | Recently, there have been a number of variant Simultaneous Localization and Mapping (SLAM) algorithms that have made substantial progress towards large-area scalability by parameterizing the SLAM posterior within the information (canonical/inverse covariance) form. Of these, probably the most well-known and popular approach is the Sparse Extended Information Filter (SEIF) by Thrun et al. While SEIFs have been successfully implemented with a variety of challenging real-world datasets and have led to new insights into scalable SLAM, open research questions remain regarding the approximate sparsification procedure and its effect on map error consistency. In this paper, we examine the constant-time SEIF sparsification procedure in depth and offer new insight into issues of consistency. In particular, we show that exaggerated map inconsistency occurs within the global reference frame where estimation is performed, but that empirical testing shows that relative local map relationships are preserved. We then present a slightly modified version of their sparsification procedure, which is shown to preserve sparsity while also generating both local and global map estimates comparable to those obtained by the non-sparsified SLAM filter. While this modified approximation is no longer constant-time, it does serve as a theoretical benchmark against which to compare SEIFs constant-time results. We demonstrate our findings by benchmark comparison of the modified and original SEIF sparsification rule using simulation in the linear Gaussian SLAM case and real-world experiments for a nonlinear dataset. | en_US |
dc.publisher | IEEE | en_US |
dc.title | Sparse Extended Information Filters: Insights into Sparsification | en_US |
dc.type | Article | en_US |
dc.subject.hlbsecondlevel | Naval Architecture and Marine Engineering | en_US |
dc.subject.hlbtoplevel | Engineering | en_US |
dc.description.peerreviewed | Peer Reviewed | en_US |
dc.contributor.affiliationother | Department of Applied Ocean Physics and Engineering Woods Hole Oceanographic Institution Woods Hole, MA, USA. Matthew Walter and John Leonard Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge, MA, USA. | en_US |
dc.identifier.pmid | 16052945 | en_US |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/86045/1/reustice-31.pdf | |
dc.identifier.doi | 10.1109/IROS.2005.1545053 | en_US |
dc.identifier.source | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems | en_US |
dc.owningcollname | Electrical Engineering and Computer Science, Department of (EECS) |
Files in this item
Remediation of Harmful Language
The University of Michigan Library aims to describe library materials in a way that respects the people and communities who create, use, and are represented in our collections. Report harmful or offensive language in catalog records, finding aids, or elsewhere in our collections anonymously through our metadata feedback form. More information at Remediation of Harmful Language.
Accessibility
If you are unable to use this file in its current format, please select the Contact Us link and we can modify it to make it more accessible to you.