Simultaneous localization and mapping with environmental structure prediction

摘要

Traditionally, the SLAM problem solves the localization and mapping problem in explored and sensed regions. This paper presents a prediction-based SLAM algorithm (called P-SLAM), which has an environmental structure predictor to predict the structure inside an unexplored region (i.e., look-ahead mapping). The prediction process is based on the observation of the surroundings of an unexplored region and comparing it with the built map of explored regions. If a similar structure is matched in the map of explored regions, a hypothesis is generated to indicate that a similar structure has been explored before. If the environment has repeated structures, the mobile robot can utilize the predicted structure as a virtual mapping, and decide whether or not to explore the unexplored region to save exploration time. If the mobile robot decides to explore the unexplored region, a correct prediction can be utilized to localize the robot and speed up the SLAM process. We also derive the Bayesian formulation of P-SLAM to show its compact recursive form for real-time operation. We have experimentally implemented the proposed P-SLAM in a Pioneer 3-DX mobile robot using a Rao-Blackwellized particle filter in real-time. Computer simulations and experimental results validated the performance of the proposed P-SLAM and its effectiveness in an indoor environment