A New Approach for Large-Scale Localization and Mapping: Hybrid Metric-Topological SLAM

摘要

Most successful works in simultaneous localization and mapping (SLAM) aim to build a metric map under a probabilistic viewpoint employing Bayesian filtering techniques. This work introduces a new hybrid metric-topological approach, where the aim is to reconstruct the path of the robot in a hybrid continuous-discrete state space which naturally combines metric and topological maps. Our fundamental contributions are: (i) the estimation of the topological path, an improvement similar to that of Rao-Blackwellized particle filters (RBPF) and FastSLAM in the field of metric map building; and (ii) the application of grounded methods to the abstraction of topology (including loop closure) from raw sensor readings. It is remarkable that our approach could be still represented as a Bayesian inference problem, becoming an extension of purely metric SLAM. Besides providing the formal definitions and the basics for our approach, we also describe a practical implementation aimed to real-time operation. Promising experimental results mapping large environments with multiple nested loops (~30.000 m <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> , ~2Km robot path) validate our work.