Iterated Conditional Modes to Solve Simultaneous Localization and Mapping in Markov Random Fields Context

doi:10.1007/s11633-017-1109-4

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > International Journal of Automation and Computing

	Iterated Conditional Modes to Solve Simultaneous Localization and Mapping in Markov Random Fields Context
	J. Gimenez; A. Amicarelli; J. M. Toibero; F. di Sciascio; R. Carelli
刊名	International Journal of Automation and Computing
	2018
卷号	15 期号:3 页码:310-324
关键词	Simultaneous localization and mapping Markov random fields iterated conditional modes modelling on-line solver.
ISSN号	1476-8186
DOI	10.1007/s11633-017-1109-4
英文摘要	This paper models the complex simultaneous localization and mapping (SLAM) problem through a very flexible Markov random field and then solves it by using the iterated conditional modes algorithm. Markovian models allow to incorporate: any motion model; any observation model regardless of the type of sensor being chosen; prior information of the map through a map model; maps of diverse natures; sensor fusion weighted according to the accuracy. On the other hand, the iterated conditional modes algorithm is a probabilistic optimizer widely used for image processing which has not yet been used to solve the SLAM problem. This iterative solver has theoretical convergence regardless of the Markov random field chosen to model. Its initialization can be performed on-line and improved by parallel iterations whenever deemed appropriate. It can be used as a post-processing methodology if it is initialized with estimates obtained from another SLAM solver. The applied methodology can be easily implemented in other versions of the SLAM problem, such as the multi-robot version or the SLAM with dynamic environment. Simulations and real experiments show the flexibility and the excellent results of this proposal.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42412]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	Automatics Institute, National University of San Juan, San Juan 5400, Argentina
推荐引用方式 GB/T 7714	J. Gimenez,A. Amicarelli,J. M. Toibero,et al. Iterated Conditional Modes to Solve Simultaneous Localization and Mapping in Markov Random Fields Context[J]. International Journal of Automation and Computing,2018,15(3):310-324.
APA	J. Gimenez,A. Amicarelli,J. M. Toibero,F. di Sciascio,&R. Carelli.(2018).Iterated Conditional Modes to Solve Simultaneous Localization and Mapping in Markov Random Fields Context.International Journal of Automation and Computing,15(3),310-324.
MLA	J. Gimenez,et al."Iterated Conditional Modes to Solve Simultaneous Localization and Mapping in Markov Random Fields Context".International Journal of Automation and Computing 15.3(2018):310-324.