Accelerated appearance-only SLAM
This paper describes a probabilistic bail-out condition for multihypothesis testing based on Bennett's inequality. We investigate the use of the test for increasing the speed of an appearance-only SLAM system where locations are recognised on the basis of their sensory appearance. The bail-out...
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| Format: | Conference item |
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2008
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| _version_ | 1797089958214762496 |
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| author | Cummins, M Newman, P IEEE |
| author_facet | Cummins, M Newman, P IEEE |
| author_sort | Cummins, M |
| collection | OXFORD |
| description | This paper describes a probabilistic bail-out condition for multihypothesis testing based on Bennett's inequality. We investigate the use of the test for increasing the speed of an appearance-only SLAM system where locations are recognised on the basis of their sensory appearance. The bail-out condition yields speed increases between 25x-50x on real data, with only slight degradation in accuracy. We demonstrate the system performing real-time loop closure detection on a mobile robot over multiple-kilometre paths in initially unknown outdoor environments. ©2008 IEEE. |
| first_indexed | 2024-03-07T03:11:32Z |
| format | Conference item |
| id | oxford-uuid:b45e37f0-ffce-4718-b079-bcb52449b7bc |
| institution | University of Oxford |
| last_indexed | 2024-03-07T03:11:32Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | oxford-uuid:b45e37f0-ffce-4718-b079-bcb52449b7bc2022-03-27T04:25:32ZAccelerated appearance-only SLAMConference itemhttp://purl.org/coar/resource_type/c_5794uuid:b45e37f0-ffce-4718-b079-bcb52449b7bcSymplectic Elements at Oxford2008Cummins, MNewman, PIEEEThis paper describes a probabilistic bail-out condition for multihypothesis testing based on Bennett's inequality. We investigate the use of the test for increasing the speed of an appearance-only SLAM system where locations are recognised on the basis of their sensory appearance. The bail-out condition yields speed increases between 25x-50x on real data, with only slight degradation in accuracy. We demonstrate the system performing real-time loop closure detection on a mobile robot over multiple-kilometre paths in initially unknown outdoor environments. ©2008 IEEE. |
| spellingShingle | Cummins, M Newman, P IEEE Accelerated appearance-only SLAM |
| title | Accelerated appearance-only SLAM |
| title_full | Accelerated appearance-only SLAM |
| title_fullStr | Accelerated appearance-only SLAM |
| title_full_unstemmed | Accelerated appearance-only SLAM |
| title_short | Accelerated appearance-only SLAM |
| title_sort | accelerated appearance only slam |
| work_keys_str_mv | AT cumminsm acceleratedappearanceonlyslam AT newmanp acceleratedappearanceonlyslam AT ieee acceleratedappearanceonlyslam |