Treemap: An O(log n) Algorithm for Simultaneous Localization and Mapping

This paper presents a very efficient SLAM algorithm that works by hierarchically dividing the map into local regions and subregions. At each level of the hierarchy each region stores a matrix representing some of the landmarks contained in this region. For keeping the matrices small only those landmarks are represented being observable from outside the region. A measurement is integrated into a local subregion using O(k2 ) computation time for k landmarks in a subregion. When the robot moves to a different subregion a global update is necessary requiring only O(k3 log n) computation time for n overall landmarks. The algorithm is evaluated for map quality, storage space and computation time using simulated and real experiments in an office environment.

• Type: Conference
• Year: 2004
• Where: SPATIALCOGNITION
• Authors: Udo Frese
• Keywords: Computation Time, Efficient Slam Algorithm, Information Retrieval, SPATIALCOGNITION 2004, Subregion