An incremental scheme for dictionary-based compressive SLAM

Abstract

Obtaining a compact representation of a largesize pointset map built by mapper robots is a critical issue for recent SLAM applications. This ¿map compression¿ problem is explored from a novel perspective of dictionary-based map compression in the paper. The primary contribution of the paper is proposal of an incremental scheme for simultaneous mapping and map-compression applications. An incremental map compressor is presented by employing a modified RANSAC map-matching scheme as well as the compact projection visual search. Experiments show promising results in terms of compression speed, compactness of data and structure, as well as an application to the compression distance.