Graph SLAM for Rescue Robots

Abstract:

This paper studied the mapping problem for rescue robots. Being able to build a map of the rescue environment and simultaneously localize within this map is an essential skill for rescue robots. We formulate the SLAM problem as a graph whose nodes correspond to the poses of the robot at different points and whose edges represent constraints between poses. Optimizing large pose graphs has been a bottleneck for mobile robots, since the computation time of direct nonlinear optimization can grow rapidly with the size of graph. In this paper, we propose an efficient method for constructing and solving a linear problem. We demonstrate its effectiveness on a large set of real-world maps.

• Periodical: Applied Mechanics and Materials (Volumes 433-435)
• Pages: 134-137
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.433-435.134
• Online since: October 2013
• Authors: Jin Liang Li, Ji Hua Bao, Yan Yu
• Keywords: Graph Optimization, Rescue Robots, SLAM

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