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A Separate Data Structure for Online Multi-hypothesis Topological Mapping

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11743))

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Abstract

This paper proposes an algorithm for topological simultaneous localization and mapping (SLAM) using multi-hypothesis method. This algorithm focuses on improving on-board computational efficiency and capability of finding out the correct hypothesis as early as possible. In the algorithm, an innovative data structure is applied, in which the edges and vertexes of the topological graph are stored separately. So that detailed information of the vertexes has only one copy in the storage, which also benefits saving communication bandwidth. Then, lots of repetitive loop-closing tests in similar hypothesizes are simplified to one single test that only uses vertexes storage. Lastly, incorporating with the data structure, loop closure situations can be evaluated as soon as it happens. In a word, the algorithm is highly efficient to cope with the hyper-exponential growth disaster caused by perceptual aliasing. The work is evaluated by simulations and demonstrated on a maze-like scenario with a Micro-Aerial Vehicle (MAV) equipped a computational resources restricted computer.

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Notes

  1. 1.

    All source code in this paper can be found here: https://github.com/StumboEugen/topology_map.

  2. 2.

    The experiment video can be found here: https://jbox.sjtu.edu.cn/l/uoaCIv.

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Acknowledgement

This work was partially supported by National Science and Technology Major Project (2017ZX01041101-003) and National Natural Science Foundation of China (Grant No. 51605282).

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Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China

    Changyang Gong, Gang Chen, Wei Dong, Xinjun Sheng & Xiangyang Zhu

Authors
  1. Changyang Gong
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  2. Gang Chen
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  3. Wei Dong
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  4. Xinjun Sheng
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  5. Xiangyang Zhu
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Corresponding author

Correspondence to Xinjun Sheng .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Gong, C., Chen, G., Dong, W., Sheng, X., Zhu, X. (2019). A Separate Data Structure for Online Multi-hypothesis Topological Mapping. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11743. Springer, Cham. https://doi.org/10.1007/978-3-030-27538-9_58

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  • DOI: https://doi.org/10.1007/978-3-030-27538-9_58

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27537-2

  • Online ISBN: 978-3-030-27538-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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