Closing a Million-Landmarks Loop

— We present an improved version of the treemap SLAM algorithm which uses Cholesky factors for representing Gaussians and a Hierarchical Tree Partitioning algorithm derived from the established Kernighan-Lin heuristic for graph bisection. We demonstrate the algorithm’s efficiency by mapping a simulated building with 1032271 landmarks. In the end, we close a million-landmarks loop in 21ms, providing an estimate for ≈10000 selected landmarks close to the robot, or in 442ms for computing a full estimate.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Udo Frese, Lutz Schroder
• Keywords: Algorithm’s Efficiency, IROS 2006, Robotics, Tree Partitioning Algorithm, Treemap Slam Algorithm