GraphSLAM Algorithm with Applications to Large

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Description: GraphSLAM Algorithm with Applications to Large Scale Mapping of Urban Structures Sebastian Thrun Michael Montemerlo Stanford AI Lab at Stanford University Created By: Akanksha, October 2015 Key Idea Behind GraphSLAM GraphSLAM extracts from

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slide1. GraphSLAM Algorithm with Applications to Large Scale Mapping of Urban Structures Sebastian Thrun
Michael Montemerlo
Stanford AI Lab at Stanford University Created By: Akanksha, October 2015<br>
slide2. Key Idea Behind GraphSLAM GraphSLAM extracts from the data a set of soft constraints, represented by a sparse graph.
Then it obtains the map and the robot path by resolving these constraints into a globally consistent estimate. Created By: Akanksha, October 2015<br>
slide3. Related Work Extensive work in the fields of photogrammetry, computer vision and computer graphics and robotics by various personalities.
Extended Kalman Filter (EKF) mathematically introduced by Cheeseman and Smith(1986) and implemented by Moutarlier and Chatila (1989)
Globally Consistent Range Scan Alignment Algorithm by Lu and Milios (1997)
Incremental Mapping of Large Cyclic Environments by Gumann and Konolige (2000)
Atlas by Bosse et al.(2003, 2004)
Etc.. Created By: Akanksha, October 2015<br>
slide4. GraphSLAM Exposition Created By: Akanksha, October 2015<br>
slide5. GraphSLAM Exposition contd.. Created By: Akanksha, October 2015<br>
slide6. GraphSLAM Exposition contd.. Created By: Akanksha, October 2015<br>
slide7. GraphSLAM: Basic Idea Created By: Akanksha, October 2015<br>
slide8. GraphSLAM: Building Graph Created By: Akanksha, October 2015<br>
slide9. GraphSLAM: Inference Created By: Akanksha, October 2015<br>
slide10. GraphSLAM: Inference Contd.. Created By: Akanksha, October 2015<br>
slide11. GraphSLAM: Algorithm for Full SLAM problem with Known Correspondence Created By: Akanksha, October 2015<br>
slide12. GraphSLAM: Algorithm for Full SLAM problem with Unknown Correspondence Created By: Akanksha, October 2015<br>
slide13. GraphSLAM: Algorithm for Correspondence Test Function Created By: Akanksha, October 2015<br>
slide14. Results Created By: Akanksha, October 2015<br>
slide15. Comparative maps w/o and w GPS data factored in Created By: Akanksha, October 2015<br>
slide16. Mapping of Terrain Created By: Akanksha, October 2015<br>
slide17. Visualization Using Two Observation Platforms Created By: Akanksha, October 2015<br>
slide18. Discussion Assumption of Independent Gaussian Noise
Limited Reliance on good initial estimate of map – Initialization Step
Matrix Inversion in GraphSLAM_solve function
Gap between Offline SLAM and Online SLAM
Questions? Created By: Akanksha, October 2015<br>
slide19. Thank you! Created By: Akanksha, October 2015<br>