Graphical SLAM for Outdoor Applications

摘要

Abstract Application of SLAM outdoors is challenged by complexity, handling of nonlinearities, and flexible integration of a diverse set of features. A graphical approach to SLAM is introduced that enables flexible data‐association. The method allows for handling of nonlinearities. The method also enables easy introduction of global constraints. Computational issues can be addressed as a graph reduction problem. A complete framework for graphical based SLAM is presented. The framework is demonstrated for a number of outdoor experiments using an ATRV robot equipped with a SICK laser scanner and a Cross‐Bow Inertial Unit. The experiments include handling of large outdoor environments with loop closing. The presented system operates at 5 Hz on a 800 MHz computer. © 2007 Wiley Periodicals, Inc.