SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
2023 IEEE International Conference on Robotics and Automation (ICRA 2023) May 29 - June 2, 2023. London, UK
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024
|
| Online Access: | https://hdl.handle.net/1721.1/153656 |
| _version_ | 1826188580626628608 |
|---|---|
| author | Papalia, Alan Morales, Joseph Doherty, Kevin J. Rosen, David M. Leonard, John J. |
| author_facet | Papalia, Alan Morales, Joseph Doherty, Kevin J. Rosen, David M. Leonard, John J. |
| author_sort | Papalia, Alan |
| collection | MIT |
| description | 2023 IEEE International Conference on Robotics and Automation (ICRA 2023)
May 29 - June 2, 2023. London, UK |
| first_indexed | 2024-09-23T08:01:53Z |
| format | Article |
| id | mit-1721.1/153656 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T08:01:53Z |
| publishDate | 2024 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/1536562024-03-13T04:07:12Z SCORE: A Second-Order Conic Initialization for Range-Aided SLAM Papalia, Alan Morales, Joseph Doherty, Kevin J. Rosen, David M. Leonard, John J. 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) May 29 - June 2, 2023. London, UK We present a novel initialization technique for the range-aided simultaneous localization and mapping (RASLAM) problem. In RA-SLAM we consider measurements of point-to-point distances in addition to measurements of rigid transformations to landmark or pose variables. Standard formulations of RA-SLAM approach the problem as nonconvex optimization, which requires a good initialization to obtain quality results. The initialization technique proposed here relaxes the RA-SLAM problem to a convex problem which is then solved to determine an initialization for the original, non-convex problem. The relaxation is a second-order cone program (SOCP), which is derived from a quadratically constrained quadratic program (QCQP) formulation of the RASLAM problem. As a SOCP, the method is highly scalable. We name this relaxation Second-order COnic RElaxation for RASLAM (SCORE). To our knowledge, this work represents the first convex relaxation for RA-SLAM. We present real-world and simulated experiments which show SCORE initialization permits the efficient recovery of quality solutions for a variety of challenging single- and multi-robot RA-SLAM problems with thousands of poses and range measurements. 2024-03-12T14:52:09Z 2024-03-12T14:52:09Z 2023-05-29 2024-03-12T14:16:32Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/153656 A. Papalia, J. Morales, K. J. Doherty, D. M. Rosen and J. J. Leonard, "SCORE: A Second-Order Conic Initialization for Range-Aided SLAM," 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 10637-10644. en 10.1109/icra48891.2023.10160787 2023 IEEE International Conference on Robotics and Automation (ICRA) Creative Commons Attribution-Noncommercial-ShareAlike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE arxiv |
| spellingShingle | Papalia, Alan Morales, Joseph Doherty, Kevin J. Rosen, David M. Leonard, John J. SCORE: A Second-Order Conic Initialization for Range-Aided SLAM |
| title | SCORE: A Second-Order Conic Initialization for Range-Aided SLAM |
| title_full | SCORE: A Second-Order Conic Initialization for Range-Aided SLAM |
| title_fullStr | SCORE: A Second-Order Conic Initialization for Range-Aided SLAM |
| title_full_unstemmed | SCORE: A Second-Order Conic Initialization for Range-Aided SLAM |
| title_short | SCORE: A Second-Order Conic Initialization for Range-Aided SLAM |
| title_sort | score a second order conic initialization for range aided slam |
| url | https://hdl.handle.net/1721.1/153656 |
| work_keys_str_mv | AT papaliaalan scoreasecondorderconicinitializationforrangeaidedslam AT moralesjoseph scoreasecondorderconicinitializationforrangeaidedslam AT dohertykevinj scoreasecondorderconicinitializationforrangeaidedslam AT rosendavidm scoreasecondorderconicinitializationforrangeaidedslam AT leonardjohnj scoreasecondorderconicinitializationforrangeaidedslam |