On the Bending Problem for Large Scale Mapping
conference paper
During Simultaneous Localization And Mapping,
geometrical constraints are established between map features.
These constraints, introduced through measurements and motion
prediction, produce a bending effect in the event of closing
a large loop. In this paper we present a discussion of the bending
problem for trajectory based representations. Furthermore,
we propose a generic approach to reduce the bending effect
that exploits common geometrical constraints in human-made
environments through the use of a Heading Based Curvature
measurement. We show by means of experimental results that
our approach increases significantly both the global and local
map accuracy.
geometrical constraints are established between map features.
These constraints, introduced through measurements and motion
prediction, produce a bending effect in the event of closing
a large loop. In this paper we present a discussion of the bending
problem for trajectory based representations. Furthermore,
we propose a generic approach to reduce the bending effect
that exploits common geometrical constraints in human-made
environments through the use of a Heading Based Curvature
measurement. We show by means of experimental results that
our approach increases significantly both the global and local
map accuracy.
TNO Identifier
346471
Publisher
IEEE
Source title
The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009 St. Louis, USA
Place of publication
Piscataway, NJ
Pages
1144-1149
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