Feature Selection Criteria for Real Time EKF-SLAM Algorithm
This paper presents a seletion procedure for environmet features for the correction stage of a SLAM (Simultaneous Localization and Mapping) algorithm based on an Extended Kalman Filter (EKF). This approach decreases the computational time of the correction stage which allows for real and constant-ti...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2009-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/7237 |
| _version_ | 1828760560698654720 |
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| author | Fernando Auat Cheein Gustavo Scaglia Fernando di Sciasio Ricardo Carelli |
| author_facet | Fernando Auat Cheein Gustavo Scaglia Fernando di Sciasio Ricardo Carelli |
| author_sort | Fernando Auat Cheein |
| collection | DOAJ |
| description | This paper presents a seletion procedure for environmet features for the correction stage of a SLAM (Simultaneous Localization and Mapping) algorithm based on an Extended Kalman Filter (EKF). This approach decreases the computational time of the correction stage which allows for real and constant-time implementations of the SLAM. The selection procedure consists in chosing the features the SLAM system state covariance is more sensible to. The entire system is implemented on a mobile robot equipped with a range sensor laser. The features extracted from the environment correspond to lines and corners. Experimental results of the real time SLAM algorithm and an analysis of the processing-time consumed by the SLAM with the feature selection procedure proposed are shown. A comparison between the feature selection approach proposed and the classical sequential EKF-SLAM along with an entropy feature selection approach is also performed. |
| first_indexed | 2024-12-11T01:15:55Z |
| format | Article |
| id | doaj.art-ca1c071eb27d42779e2b5a5181490f53 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T01:15:55Z |
| publishDate | 2009-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-ca1c071eb27d42779e2b5a5181490f532022-12-22T01:25:52ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142009-09-01610.5772/723710.5772_7237Feature Selection Criteria for Real Time EKF-SLAM AlgorithmFernando Auat CheeinGustavo ScagliaFernando di SciasioRicardo CarelliThis paper presents a seletion procedure for environmet features for the correction stage of a SLAM (Simultaneous Localization and Mapping) algorithm based on an Extended Kalman Filter (EKF). This approach decreases the computational time of the correction stage which allows for real and constant-time implementations of the SLAM. The selection procedure consists in chosing the features the SLAM system state covariance is more sensible to. The entire system is implemented on a mobile robot equipped with a range sensor laser. The features extracted from the environment correspond to lines and corners. Experimental results of the real time SLAM algorithm and an analysis of the processing-time consumed by the SLAM with the feature selection procedure proposed are shown. A comparison between the feature selection approach proposed and the classical sequential EKF-SLAM along with an entropy feature selection approach is also performed.https://doi.org/10.5772/7237 |
| spellingShingle | Fernando Auat Cheein Gustavo Scaglia Fernando di Sciasio Ricardo Carelli Feature Selection Criteria for Real Time EKF-SLAM Algorithm International Journal of Advanced Robotic Systems |
| title | Feature Selection Criteria for Real Time EKF-SLAM Algorithm |
| title_full | Feature Selection Criteria for Real Time EKF-SLAM Algorithm |
| title_fullStr | Feature Selection Criteria for Real Time EKF-SLAM Algorithm |
| title_full_unstemmed | Feature Selection Criteria for Real Time EKF-SLAM Algorithm |
| title_short | Feature Selection Criteria for Real Time EKF-SLAM Algorithm |
| title_sort | feature selection criteria for real time ekf slam algorithm |
| url | https://doi.org/10.5772/7237 |
| work_keys_str_mv | AT fernandoauatcheein featureselectioncriteriaforrealtimeekfslamalgorithm AT gustavoscaglia featureselectioncriteriaforrealtimeekfslamalgorithm AT fernandodisciasio featureselectioncriteriaforrealtimeekfslamalgorithm AT ricardocarelli featureselectioncriteriaforrealtimeekfslamalgorithm |