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Localization of Map Changes by Exploiting SLAM Residuals

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Advanced Concepts for Intelligent Vision Systems (ACIVS 2020)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 12002))

Abstract

Simultaneous Localization and Mapping is widespread in both robotics and autonomous driving. This paper proposes a novel method to identify changes in maps constructed by SLAM algorithms without feature-to-feature comparison. We use ICP-like algorithms to match frames and pose graph optimization to solve the SLAM problem. Finally, we analyze the residuals to localize possible alterations of the map. The concept was tested with 2D LIDAR SLAM problems in simulated and real-life cases.

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Notes

  1. 1.

    Vehicle Vision Research Laboratory of the Faculty of Transportation Engineering and Vehicle Engineering’s Department of Material Handling and Logistics Systems of Budapest University of Technology and Economics.

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Acknowledgment

The publication was supported by the European Commission through the Centre of Excellence in Production Informatics and Control (EPIC), grant No. 739592. The research was further supported by the Hungarian Scientific Research Fund No. OTKA/NKFIH K\(\_\)120499.

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Authors and Affiliations

  1. Machine Perception Research Laboratory of Institute for Computer Science and Control (SZTAKI), Kende u. 13-17, Budapest, 1111, Hungary

    Zoltan Rozsa, Marcell Golarits & Tamas Sziranyi

  2. Faculty of Transportation Engineering and Vehicle Engineering, Budapest University of Technology and Economics (BME KJK), Műegyetem rkp. 3, Budapest, 1111, Hungary

    Zoltan Rozsa & Tamas Sziranyi

Authors
  1. Zoltan Rozsa
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  2. Marcell Golarits
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  3. Tamas Sziranyi
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Corresponding author

Correspondence to Zoltan Rozsa .

Editor information

Editors and Affiliations

  1. DGA, Paris, France

    Jacques Blanc-Talon

  2. University of Auckland, Auckland, New Zealand

    Patrice Delmas

  3. Ghent University, Ghent, Belgium

    Wilfried Philips

  4. CSIRO, Canberra, Australia

    Dan Popescu

  5. University of Antwerp, Wilrijk, Belgium

    Paul Scheunders

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Rozsa, Z., Golarits, M., Sziranyi, T. (2020). Localization of Map Changes by Exploiting SLAM Residuals. In: Blanc-Talon, J., Delmas, P., Philips, W., Popescu, D., Scheunders, P. (eds) Advanced Concepts for Intelligent Vision Systems. ACIVS 2020. Lecture Notes in Computer Science(), vol 12002. Springer, Cham. https://doi.org/10.1007/978-3-030-40605-9_27

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  • DOI: https://doi.org/10.1007/978-3-030-40605-9_27

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  • Print ISBN: 978-3-030-40604-2

  • Online ISBN: 978-3-030-40605-9

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