TY - GEN
T1 - Modern MAP inference methods for accurate and fast occupancy grid mapping on higher order factor graphs
AU - Dhiman, Vikas
AU - Kundu, Abhijit
AU - Dellaert, Frank
AU - Corso, Jason J.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Using the inverse sensor model has been popular in occupancy grid mapping. However, it is widely known that applying the inverse sensor model to mapping requires certain assumptions that are not necessarily true. Even the works that use forward sensor models have relied on methods like expectation maximization or Gibbs sampling which have been succeeded by more effective methods of maximum a posteriori (MAP) inference over graphical models. In this paper, we propose the use of modern MAP inference methods along with the forward sensor model. Our implementation and experimental results demonstrate that these modern inference methods deliver more accurate maps more efficiently than previously used methods.
AB - Using the inverse sensor model has been popular in occupancy grid mapping. However, it is widely known that applying the inverse sensor model to mapping requires certain assumptions that are not necessarily true. Even the works that use forward sensor models have relied on methods like expectation maximization or Gibbs sampling which have been succeeded by more effective methods of maximum a posteriori (MAP) inference over graphical models. In this paper, we propose the use of modern MAP inference methods along with the forward sensor model. Our implementation and experimental results demonstrate that these modern inference methods deliver more accurate maps more efficiently than previously used methods.
UR - http://www.scopus.com/inward/record.url?scp=84929190242&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929190242&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907129
DO - 10.1109/ICRA.2014.6907129
M3 - Conference contribution
AN - SCOPUS:84929190242
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2037
EP - 2044
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -