Lehner, Hannah und Schuster, Martin J. und Bodenmüller, Tim und Kriegel, Simon (2017) Exploration with Active Loop Closing: A Trade-off between Exploration Efficiency and Map Quality. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017. IROS 2017, 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/IROS.2017.8206521. ISBN 978-153862682-5. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/8206521
Kurzfassung
A robotic system for search and rescue missions needs to efficiently explore and map new areas. In this paper, we present an integrated exploration strategy with active loop closing, which balances between the exploration speed and map quality. Specifically, it finds a trade-off between moving towards unknown space to gather new information and revisiting previous locations to improve localization accuracy and map quality through loop closures. Our integrated exploration is built upon a submap-based 6D SLAM system. Loop closure constraints originate from pairwise submap matches, which allow the optimization of an underlying SLAM graph. During exploration, we employ the expected information gain as well as the robot's localization uncertainty estimates to weigh exploration and revisiting actions online. We introduce the match effect as the expected impact of a loop closure on global optimization and consider this novel criterion together with the match likelihood and cost when evaluating the utility of revisiting previous locations. To demonstrate our approach, we present simulated and real-world experiments, comparing two variants of our novel method to a frontier-based exploration.
elib-URL des Eintrags: | https://elib.dlr.de/116729/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Exploration with Active Loop Closing: A Trade-off between Exploration Efficiency and Map Quality | ||||||||||||||||||||
Autoren: |
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Datum: | September 2017 | ||||||||||||||||||||
Erschienen in: | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/IROS.2017.8206521 | ||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||
ISBN: | 978-153862682-5 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Autonomous Exploration, Sensor-based Planning, Robotics | ||||||||||||||||||||
Veranstaltungstitel: | IROS 2017 | ||||||||||||||||||||
Veranstaltungsort: | Vancouver, Canada | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 24 September 2017 | ||||||||||||||||||||
Veranstaltungsende: | 28 September 2017 | ||||||||||||||||||||
Veranstalter : | IEEE/RSJ | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||
Hinterlegt von: | Lehner, Hannah | ||||||||||||||||||||
Hinterlegt am: | 08 Dez 2017 08:27 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:21 |
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