TY - GEN
T1 - Virtual Maps for Autonomous Exploration with Pose SLAM
AU - Wang, Jinkun
AU - Shan, Tixiao
AU - Englot, Brendan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - We consider the problem of autonomous mobile robot exploration in an unknown environment taking into account the robot's mapping rate, map uncertainty, and state estimation uncertainty. This paper presents an exploration framework built upon segment-aided pose SLAM adapted for better active localization. We build on our previous work on expectation maximization (EM) exploration, which explicitly models unknown landmarks as latent variables and predicts their expected uncertainty, to resolve the lack of landmark state in denser instances of SLAM. The proposed system comprises path generation, place recognition forecasting, belief propagation and utility evaluation using a virtual map. We analyze the performance in simulated experiments, showing that our algorithm maintains higher coverage speed in exploration as well as lower mapping and localization error. The real-time applicability is demonstrated on an unmanned ground vehicle.
AB - We consider the problem of autonomous mobile robot exploration in an unknown environment taking into account the robot's mapping rate, map uncertainty, and state estimation uncertainty. This paper presents an exploration framework built upon segment-aided pose SLAM adapted for better active localization. We build on our previous work on expectation maximization (EM) exploration, which explicitly models unknown landmarks as latent variables and predicts their expected uncertainty, to resolve the lack of landmark state in denser instances of SLAM. The proposed system comprises path generation, place recognition forecasting, belief propagation and utility evaluation using a virtual map. We analyze the performance in simulated experiments, showing that our algorithm maintains higher coverage speed in exploration as well as lower mapping and localization error. The real-time applicability is demonstrated on an unmanned ground vehicle.
UR - http://www.scopus.com/inward/record.url?scp=85081162548&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85081162548&partnerID=8YFLogxK
U2 - 10.1109/IROS40897.2019.8967853
DO - 10.1109/IROS40897.2019.8967853
M3 - Conference contribution
AN - SCOPUS:85081162548
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4899
EP - 4906
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -