FastSLAM Using Compressed Occupancy Grids

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dc.contributor.authorCain, Christopheren
dc.contributor.authorLeonessa, Alexanderen
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2017-09-18T09:35:10Zen
dc.date.available2017-09-18T09:35:10Zen
dc.date.issued2016-07-05en
dc.date.updated2017-09-18T09:35:09Zen
dc.description.abstractRobotic vehicles working in unknown environments require the ability to determine their location while learning about obstacles located around them. In this paper a method of solving the SLAM problem that makes use of compressed occupancy grids is presented. The presented approach is an extension of the FastSLAM algorithm which stores a compressed form of the occupancy grid to reduce the amount of memory required to store the set of occupancy grids maintained by the particle filter. The performance of the algorithm is presented using experimental results obtained using a small inexpensive ground vehicle equipped with LiDAR, compass, and downward facing camera that provides the vehicle with visual odometry measurements. The presented results demonstrate that although with our approach the occupancy grid maintained by each particle uses only of the data needed to store the uncompressed occupancy grid, we can still achieve almost identical results to the approach where each particle filter stores the full occupancy grid.en
dc.description.versionPublished versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationChristopher Cain and Alexander Leonessa, “FastSLAM Using Compressed Occupancy Grids,” Journal of Sensors, vol. 2016, Article ID 3891865, 23 pages, 2016. doi:10.1155/2016/3891865en
dc.identifier.doihttps://doi.org/10.1155/2016/3891865en
dc.identifier.urihttp://hdl.handle.net/10919/78931en
dc.language.isoenen
dc.publisherHindawien
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.holderCopyright © 2016 Christopher Cain and Alexander Leonessa. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.en
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.titleFastSLAM Using Compressed Occupancy Gridsen
dc.title.serialJournal of Sensorsen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten

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