Simultaneous Localization and Mapping with Environmental Structure Prediction

—Traditionally, simultaneous localization and mapping (SLAM) algorithms solve the localization and mapping problem in explored regions. This paper presents a prediction-based SLAM algorithm (called P-SLAM), which has an environmental-structure predictor to predict the structure inside an unexplored region (i.e., look-ahead mapping). The prediction process is based on the observation of the surroundings of an unexplored region and comparing it with the built map of explored regions. If a similar environment/structure is matched in the map of explored regions, a hypothesis is generated to indicate that a similar structure has been explored before. If the environment has repeated structures, the mobile robot can use the predicted structure as a virtual mapping, and decide whether or not to explore the unexplored region to save the exploration time. If the mobile robot decides to explore the unexplored region, a correct prediction can be used to speed up the SLAM process and build a more...

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: H. Jacky Chang, C. S. George Lee, Yung-Hsiang Lu, Y. Charlie Hu
• Keywords: ICRA 2006, Mobile Robot, Prediction-based Slam Algorithm, Robotics, Unexplored Region