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Active Pose SLAM

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Book cover Mapping, Planning and Exploration with Pose SLAM

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 119))

Abstract

This Chapter presents an active exploration strategy that complements Pose SLAM and the path planning approach shown in Chap. 4.

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Notes

  1. 1.

    With a slight abuse in notation, \(\mu _i\) refers here only to the x and y components of \(\mu _i\), and \({\varvec{\varSigma }}_{ii}\) to the marginal elements of \({\varvec{\varSigma }}_{ii}\), leaving the orientation terms out. The Jacobian \(\mathbf{H}_d\) is simply \(2 [(\mu _i-\mu _k)^{\!\top }, (\mu _k-\mu _i)^{\!\top }]\).

  2. 2.

    Code accessed from: https://github.com/RainerKuemmerle/g2o.

  3. 3.

    GTSAM Version 3.2.1 accessed from: https://collab.cc.gatech.edu/borg/gtsam.

  4. 4.

    ATE implementation from the Rawseed Project (http://www.rawseeds.org) was used.

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Authors and Affiliations

  1. Carnegie Mellon University, Pittsburgh, PA, USA

    Rafael Valencia

  2. CSIC-UPC, Institut de Robòtica i Informàtica Industrial, Barcelona, Spain

    Juan Andrade-Cetto

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  1. Rafael Valencia
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Correspondence to Rafael Valencia .

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Valencia, R., Andrade-Cetto, J. (2018). Active Pose SLAM. In: Mapping, Planning and Exploration with Pose SLAM. Springer Tracts in Advanced Robotics, vol 119. Springer, Cham. https://doi.org/10.1007/978-3-319-60603-3_5

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  • DOI: https://doi.org/10.1007/978-3-319-60603-3_5

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  • Online ISBN: 978-3-319-60603-3

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