Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM Article Swipe
Christopher E. Denniston
,
Yun Sil Chang
,
Andrzej Reinke
,
Kamak Ebadi
,
Gaurav S. Sukhatme
,
Luca Carlone
,
Benjamin Morrell
,
Ali‐akbar Agha‐mohammadi
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2205.12402
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2205.12402
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop closure candidates becomes computationally infeasible. In this work, we describe a loop closure module that is able to prioritize which loop closures to compute based on the underlying pose graph, the proximity to known beacons, and the characteristics of the point clouds. We validate this system in the context of the DARPA Subterranean Challenge and on numerous challenging underground datasets and demonstrate the ability of this system to generate and maintain a map with low error. We find that our proposed techniques are able to select effective loop closures which results in 51% mean reduction in median error when compared to an odometric solution and 75% mean reduction in median error when compared to a baseline version of this system with no prioritization. We also find our proposed system is able to find a lower error in the mission time of one hour when compared to a system that processes every possible loop closure in four and a half hours. The code and dataset for this work can be found https://github.com/NeBula-Autonomy/LAMP
Related Topics
Concepts
Computer science
Scalability
Reduction (mathematics)
Closure (psychology)
Robot
Loop (graph theory)
Context (archaeology)
Prioritization
Global Positioning System
Code (set theory)
Artificial intelligence
Real-time computing
Database
Mathematics
Engineering
Geography
Programming language
Set (abstract data type)
Economics
Telecommunications
Market economy
Combinatorics
Geometry
Management science
Archaeology
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2205.12402
- https://arxiv.org/pdf/2205.12402
- OA Status
- green
- Cited By
- 2
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4281809992
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4281809992Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2205.12402Digital Object Identifier
- Title
-
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAMWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-05-24Full publication date if available
- Authors
-
Christopher E. Denniston, Yun Sil Chang, Andrzej Reinke, Kamak Ebadi, Gaurav S. Sukhatme, Luca Carlone, Benjamin Morrell, Ali‐akbar Agha‐mohammadiList of authors in order
- Landing page
-
https://arxiv.org/abs/2205.12402Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2205.12402Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2205.12402Direct OA link when available
- Concepts
-
Computer science, Scalability, Reduction (mathematics), Closure (psychology), Robot, Loop (graph theory), Context (archaeology), Prioritization, Global Positioning System, Code (set theory), Artificial intelligence, Real-time computing, Database, Mathematics, Engineering, Geography, Programming language, Set (abstract data type), Economics, Telecommunications, Market economy, Combinatorics, Geometry, Management science, ArchaeologyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2023: 2Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| primary_location.pdf_url | https://arxiv.org/pdf/2205.12402 |
| primary_location.version | submittedVersion |
| primary_location.raw_type | text |
| primary_location.license_id | |
| primary_location.is_accepted | False |
| primary_location.is_published | False |
| primary_location.raw_source_name | |
| primary_location.landing_page_url | http://arxiv.org/abs/2205.12402 |
| publication_date | 2022-05-24 |
| publication_year | 2022 |
| referenced_works_count | 0 |
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| sustainable_development_goals[0].display_name | Sustainable cities and communities |
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