Adaptive SLAM algorithm with sampling based on state uncertainty
ABSTRACT Since the uncertainty of a robot state changes over time, proposed is an adaptive simultaneous localisation and mapping (SLAM) algorithm based on the Kullback-Leibler distance (KLD) sampling and Markov chain Monte Carlo (MCMC) move step. First, it can adaptively determine the number of required particles by calculating the KLD between the posterior distribution approximated by particles and the true posterior distribution at each step. Secondly, it introduces the MCMC move step to increase the particle variety. Both simulation and experimental results demonstrate that the proposed algorithm can obtain more robust and precise results by computing the number of required particles more accurately than previous algorithms.
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ABSTRACT: In this work we address the problem of optimal Bayesian filtering for dynamic systems with observation models that cannot be approximated properly as any parameterized distribution. In the context of mobile robots this problem arises in localization and simultaneous localization and mapping (SLAM) with occupancy grid maps. The lack of a parameterized observation model for these maps forces a sample-based representation, commonly through Monte Carlo methods for sequential filtering, also called particle filters. Our work is grounded on the demonstrated existence of an optimal proposal distribution for particle filters. However, this optimal distribution is not directly applicable to systems with non-parametric models. By integrating ideas from previous works on adaptive sample size, auxiliary particle filters, and rejection sampling, we derive a new particle filter algorithm that enables the usage of the optimal proposal to estimate the true posterior density of a non-parametric dynamic system. This new filter is better suited, both theoretically and in practice, than previous approximate methods for indoor and outdoor localization and SLAM, as confirmed by experiments with real robots.The International Journal of Robotics Research 12/2010; 29(14):1726-1742. DOI:10.1177/0278364910364165 · 2.50 Impact Factor
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ABSTRACT: Recently, Rao-Blackwellized particle filters (RBPF) have been introduced as an effective means to solve the simultaneous localization and mapping problem. This approach uses a particle filter in which each particle carries an individual map of the environment. Accordingly, a key question is how to reduce the number of particles. In this paper, we present adaptive techniques for reducing this number in a RBPF for learning grid maps. We propose an approach to compute an accurate proposal distribution, taking into account not only the movement of the robot, but also the most recent observation. This drastically decreases the uncertainty about the robot's pose in the prediction step of the filter. Furthermore, we present an approach to selectively carry out resampling operations, which seriously reduces the problem of particle depletion. Experimental results carried out with real mobile robots in large-scale indoor, as well as outdoor, environments illustrate the advantages of our methods over previous approachesIEEE Transactions on Robotics 03/2007; 23(1-23):34 - 46. DOI:10.1109/TRO.2006.889486 · 2.65 Impact Factor
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ABSTRACT: Over the past few years, particle filters have been applied with great success to a variety of state estimation problems. In this paper we present a statistical approach to increasing the efficiency of particle filters by adapting the size of sample sets during the estimation process. The key idea of the KLD-sampling method is to bound the approximation error introduced by the sample-based representation of the particle filter. The name KLD-sampling is due to the fact that we measure the approximation error using the Kullback-Leibler distance. Our adaptation approach chooses a small number of samples if the density is focused on a small part of the state space, and it chooses a large number of samples if the state uncertainty is high. Both the implementation and computation overhead of this approach are small. Extensive experiments using mobile robot localization as a test application show that our approach yields drastic improvements over particle filters with fixed sample set sizes and over a previously introduced adaptation technique.The International Journal of Robotics Research 12/2003; 22(12). DOI:10.1177/0278364903022012001 · 2.50 Impact Factor