iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering
URL to paper listed on conference site
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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IEEE Robotics & Automation Society
2011
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| Online Access: | http://hdl.handle.net/1721.1/64749 https://orcid.org/0000-0002-8863-6550 |
| _version_ | 1811095783628341248 |
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| author | Kaess, Michael Johannsson, Hordur Roberts, Richard Ila, Viorela Leonard, John Joseph Dellaert, Frank |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Kaess, Michael Johannsson, Hordur Roberts, Richard Ila, Viorela Leonard, John Joseph Dellaert, Frank |
| author_sort | Kaess, Michael |
| collection | MIT |
| description | URL to paper listed on conference site |
| first_indexed | 2024-09-23T16:27:47Z |
| format | Article |
| id | mit-1721.1/64749 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:27:47Z |
| publishDate | 2011 |
| publisher | IEEE Robotics & Automation Society |
| record_format | dspace |
| spelling | mit-1721.1/647492022-09-29T19:55:18Z iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering Kaess, Michael Johannsson, Hordur Roberts, Richard Ila, Viorela Leonard, John Joseph Dellaert, Frank Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Department of Mechanical Engineering Leonard, John Joseph Kaess, Michael Johannsson, Hordur Leonard, John Joseph URL to paper listed on conference site We present iSAM2, a fully incremental, graph-based version of incremental smoothing and mapping (iSAM). iSAM2 is based on a novel graphical model-based interpretation of incremental sparse matrix factorization methods, afforded by the recently introduced Bayes tree data structure. The original iSAM algorithm incrementally maintains the square root information matrix by applying matrix factorization updates. We analyze the matrix updates as simple editing operations on the Bayes tree and the conditional densities represented by its cliques. Based on that insight, we present a new method to incrementally change the variable ordering which has a large effect on efficiency. The efficiency and accuracy of the new method is based on fluid relinearization, the concept of selectively relinearizing variables as needed. This allows us to obtain a fully incremental algorithm without any need for periodic batch steps. We analyze the properties of the resulting algorithm in detail, and show on various real and simulated datasets that the iSAM2 algorithm compares favorably with other recent mapping algorithms in both quality and efficiency. National Science Foundation (U.S.) (NSF grant 0713162) United States. Office of Naval Research (grants N00014-06-1-0043) United States. Office of Naval Research (grant N00014-10-1-0936) 2011-07-06T18:54:28Z 2011-07-06T18:54:28Z 2011-05 Article http://purl.org/eprint/type/ConferencePaper 2152-4092 Paper WeA210.3 http://hdl.handle.net/1721.1/64749 Kaess, Michael et al. "iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering." in Papers of the 2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China. https://orcid.org/0000-0002-8863-6550 en_US https://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=34&Number=249 Proceedings for 2011 IEEE International Conference on Robotics and Automation (ICRA), ICRA 2011 Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf IEEE Robotics & Automation Society MIT web domain |
| spellingShingle | Kaess, Michael Johannsson, Hordur Roberts, Richard Ila, Viorela Leonard, John Joseph Dellaert, Frank iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering |
| title | iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering |
| title_full | iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering |
| title_fullStr | iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering |
| title_full_unstemmed | iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering |
| title_short | iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering |
| title_sort | isam2 incremental smoothing and mapping with fluid relinearization and incremental variable reordering |
| url | http://hdl.handle.net/1721.1/64749 https://orcid.org/0000-0002-8863-6550 |
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