基于稀疏扩展信息滤波的SLAM算法研究
首发时间:2008-05-16
摘要:针对传统EKF(Extended Kalman Filter)方法机器人SLAM(Simultaneous Localization And Map Building)中计算复杂度大的问题,提出了一种基于稀疏扩展信息滤波(Sparse Extended Information Filter, SEIF)的SLAM算法。通过稀疏化信息矩阵,使复杂度得到有效降低。仿真结果表明该算法计算复杂度与地图中的环境特征个数无关,可以实现恒时执行,在计算时间和占用内存上远远优于EKF,尤其适用于处理复杂环境下大地图的自主机器人SLAM问题。
For information in English, please click here
SLAM Based on Sparse Extended Information Filter
Abstract:Aiming at the significant computational burden of the traditional EKF-SLAM, a novel algorithm, SLAM based on SEIF (Sparse Extended Information Filter), is proposed. Through sparsification of the information matrix, computational complexity can be reduced notably. Simulation results show that SEIF-SLAM can be executed in constant time, irrespective of the size of the map, and have a better performance than EKF-SLAM on CPU time and memory usage, especially in the large map and complex environment.
Keywords: Robot Navigation, Simultaneous Localization and Map Building, Sparse Extended Information Filter
基金:
论文图表:
引用
No.2145322246512109****
同行评议
共计0人参与
勘误表
基于稀疏扩展信息滤波的SLAM算法研究
评论
全部评论0/1000