General SLAM & 2002 School Material

Henrik I Christensen (Ed.)
Centre for Autonomous Systems
Kungl Tekniska Högskolan
SE-100 44 Stockholm
hic@nada.kth.se

1  Table of Contents

1.1  Lecture Notes

Week schedule
List of Participants
Map of KTH Campus
Map of Stockholm
Introduction & Presentation
      Henrik I Christensen
Localisation, Mapping and the Simultaneous Localisation and Mapping (SLAM) Problem
      Hugh Durrant Whyte
KF implementation of the basic SLAM algorithm
      Eduardo Nebot
Bayesian Approaches to Mapping
      Sebastian Thrun
Data Association
      Juan Domingo Tardos
FastSLAM
      J. Nieto, J. Guivant, Eduardo Nebot & Sebastian Thrun
SLAM in Dynamic Environments
      Wolfram Burgard
Representational Issues
      Raja Chatila
Computational issues and approaches (KF and Bayesian)
      John Leonard
Case study: Indoor environments with KFs
      Patric Jensfelt
Case study: Indoor loop closing
      David Austin
Case study: Land vehicles
Case Study: Sub-sea implementations
      John Leonard
Case studies: Air implementations

1.2  Additional presentations/material

Probability Primer
      Wolfram Burgard
Rhino & Minerva: Two Interactive Museum Tour-Guide Robots
      Wolfram Burgard
The Compressed Extended Kalman Filter (CEKF)
      José E. Guivant and Eduardo Nebot

2  Software

On the CD in the directory code/ the MATLAB code for the initial laboratory exercise is available.
The updated Matlab code is available here as a ZIP archieve.
The updated Matlab code for session 3 is here as a ZIP archieve.
The Matlab code for session 4 is here as a ZIP archieve.

3  Related papers

References

[1]
Anguelov, D., Biswas, R., Koller, D., Limketkai, B., Sanner, S., , and Thrun., S. Learning hierarchical object maps of non-stationary environments with mobile robots. In Proc. 17th Conf on Uncertainty in AI (UAI) (Jun 2002). (pdf).
[2]
Bailey, I. Mobile robot localisation and maping in extensive outdoor environments. PhD thesis, ACFR, University of Sydney, Australia, Aug 2002. (pdf).
[3]
Betge-Brezetz, S., Chatila, R., and Devy, M. Object-based modelling and localization in natural environments. In ICRA-95 (Osaka (Japan), 1995). (pdf).
[4]
Betgé-Brezetz, S., Hébert, P., Chatila, R., and Devy, M. Uncertain map making in natural environment. In ICRA (Minneapolis, April 1996). (pdf).
[5]
Bosse, M., Newman, P., Leonard, J., Soika, M., Felten, W., and Teller, S. An atlas framework for scalable mapping. In ICRA (Taiwan, April 2003), pp. 1899-1906. (pdf).
[6]
Bosse, M., Newman, P., Leonard, J., and Teller, S. Slam in large-scale cyclic environments using the atlas framework. IJRR (2004), 2004. (pdf).
[7]
Bulata, H., and Devy, M. Incremental construction of a landmark-based and topological model of indoor environments by a mobile robot. In ICRA (Minneapolis (USA), 1996). (pdf).
[8]
Burgard, W., Cremers, A. B., Fox, D., Hahnel, D., Lakemeyer, G., Schulz, D., Steiner, W., and Thrun., S. Experiences with an interactive museum tour-guide robot. Artificial Intelligence 114, 1-2 (1999), 3-55. (pdf).
[9]
Castellanos, J. A., Montiel, J. M. M., Neira, J., and Tardós, J. D. The SPmap: A probabilistic framework for simultaneous localization and map building. IEEE Trans on Robotics and Automation 15, 5 (October 1999), 948-952. (pdf).
[10]
Castellanos, J. A., Neira, J., and Tardos, J. D. Limits to the consistencyof the EKF-based SLAM. In Intelligent Autonomous Vehicles (IAV-2004) (Lisboa, PT, July 2004), M. I. Ribeiro and J. Santos-Victor, Eds., IFAC/EURON, IFAC/Elsevier. (pdf).
[11]
Castellanos, J. A., Neira, J., and Tardós, J. D. Multisensor fusion for simultaneous localization and map building. IEEE Trans on Robotics and Automation 17, 6 (December 2001), 908-914. (pdf).
[12]
Chatila, R., and Laumond, J.-P. Position referencing and consistent world modeling for mobile robots. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA'85) (1985), pp. 138-145. (pdf).
[13]
Cid, R. M., Parra, C., and Devy, M. Visual navigation in natural environments: from range and color data to a landmark-based model. Autonomous Robots 13, 2 (Sept 2002), 143-168. (pdf).
[14]
Csorba, M. Simultaneous Localisation and Mapping. PhD thesis, Univ of Oxford, 1997. (pdf).
[15]
Davison, A. Mobile Robot Navigation Using Active Vision. PhD thesis, Univ of Oxford, Oxford (UK), June 1998. (pdf).
[16]
Davison, A. Real time simultaneous localisation and mapping with a single camera. In ICCV (Nice (F), July 2003). (pdf).
[17]
Devy, M., and Bulata, H. Multi-sensory perception and heterogeneous representations for the navigation of a mobile robot in a structured  environment. In Symposium on Intelligent Robot Systems (Lisboa, July 1996), (SIRS-96). (pdf).
[18]
Devy, M., and Parra, C. 3-D scene modelling and curve-based localization in natural environments. In ICRA (Leuven (Belgium), April 1998). (pdf).
[19]
Dissanayaka, M., Newman, P., Clark, S., Durrant-Whyte, H., and Csorba, M. A solution to the simultaneous localisation and map building problem. IEEE Trans. on Robotics and Automation 17, 3 (June 2001), 229-241. (pdf).
[20]
Dissanayake, M. W. M. G., Newman, P., Clark, S., Durrant-Whyte, H. F., and Csorba, M. A solution to the simultaneous localization and map building (slam) problem. IEEE Transactions on Robotics and Automation, 17, 3 (June 2001), 229-241. (pdf).
[21]
Dudek, G., and Jegessur, D. Robust place recognition using local appearance based methods. In ICRA-2002 (San Francisco, CA, 200), IEEE, pp. 466-474. (pdf).
[22]
Eliazar, A., and Parr, R. Dp-slam: Fast, robust simulataneous localization and mapping without predetermined landmarks. In 18th IJCAI (Acapulco, August 2003). (pdf).
[23]
Eliazar, A., and Parr, R. Dp-slam 2.0. In ICRA (New Orleans (USA), April 2004). (pdf).
[24]
Feder, H. J. S., Leonard, J. J., and Smith, C. M. Adaptive mobile robot navigation and mapping. Int. J. Robotics Research 18, 7 (July 1999), 650-668. (pdf).
[25]
Fenwick, J., Newman, P., and Leonard, J. Collaborative concurrent mapping and localization. In IEEE Conf on Robotics and Automation (Washington, DC, May 2002). (pdf).
[26]
Folkesson, J., and Christensen, H. I. Graphical slam - a self-correcting map. In ICRA-05 (New Orleans, April 2004), IEEE. (pdf).
[27]
Folkesson, J., and Christensen, H. I. Robust SLAM. In IAV-2004 (Lisboa, PT, July 5-7 2004). (pdf).
[28]
Guivant, J., Masson, F., and Nebot, E. Simultaneous localization and map building using natural features and absolute information. Robotics and Autonomous Systems (2002). (pdf).
[29]
Guivant, J., and Nebot, E. Improving computational and memory requirements of simultaneous localization and map building algorithms. In IEEE Intl. Conf on Robotics and Automation (Washington DC, May 2002), pp. 2731-2736. (pdf).
[30]
Guivant, J., and Nebot, E. Solving computational and memory requirements of feature based simultaneous localization and map building algorithms. Tech. rep., Australian Centre for Field Robotics, Univ of Sydney, 2002. (pdf).
[31]
Guivant, J., Nebot, E., and Baiker, S. Autonomous navigation and map building using laser range sensors in outdoor applications. Journal of Robotics Systems 17, 10 (October 2000), 565-583. (pdf).
[32]
Guivant, J. E. Efficient Simultaneous Localisation and Mapping in Large Environments. PhD thesis, ACFR, Univ. of Sydney, Australia, May 2002. (pdf).
[33]
Guivant, J. E., and Nebot, E. Optimization of the simultaneous localization and map-building algorithm for real-time implementation. IEEE Transactions on Robotics and Automation, 17, 3 (June 2001), 242-257. (pdf).
[34]
Guivant, J. E., Nebot, E. M., Nieto, J., and Masson, F. Navigation and mapping in large unstructured environments. IJRR 23, 4 (April 2004). (pdf).
[35]
Gutmann, S., and Schlegel, C. Amos: Comparison of scan-matching approaches for self-localization in indoor environments. In 1st Euromicro Conf on Adv. Mobile Robotics (1996), IEEE. (pdf).
[36]
Hähnel, D., Burgard, W., Fox, D., and Thrun, S. A highly efficient fastslam algorithm for generating cyclic maps of large-scale environments from raw laser range measurements. In IROS (Las Vegas (USA), 2003), IEEE/RSJ. (pdf).
[37]
Hahnel, D., Schulz, D., and Burgard, W. Map building with mobile robots in populated environments. In IROS-02 (Lausanne, CH, October 2002), p. (In press). (pdf).
[38]
Hähnel, D., Schulz, D., and Burgard, W. Mobile robot mapping in populated environments. Autonomous Robots 17, 7 (2003), 579-598. (pdf).
[39]
Hähnel, D., Triebel, R., Burgard, W., and Thrun, S. Map building with mobile robots in dynamic environments. In ICRA (Taiwan, April 2003), IEEE. (pdf).
[40]
Hayet, J. B., Lerasle, F., and Devy, M. A visual landmark framework for indoor mobile robot navigation. In ICRA (Washington, DC (USA), May 2002), IEEE. (pdf).
[41]
Jensfelt, P., Austin, D., Wijk, O., and Andersson, M. Feature based condensation for mobile robot localization. In IEEE Intl. Conf. on Robotics and Automation (May 2000), pp. 2531-2537. (pdf).
[42]
Jensfelt, P., Christensen, H., and Zunino, G. Integrated systems for mapping and localization. In ICRA-02 SLAM Workshop, J. Leonard and H. Durrant-Whyte, Eds. IEEE, May 2002. (pdf).
[43]
Jensfelt, P., and Christensen, H. I. Pose tracking using laser scanning and minimalistic environmental models. IEEE Trans. on Robotics and Automation 17, 2 (April 2001), 138-147. (pdf).
[44]
Jensfelt, P., and Kristensen, S. Active global localisation for a mobile robot using multiple hypothesis tracking. IEEE Transactions on Robotics and Automation 17, 5 (October 2001), 748-760. (pdf).
[45]
Jensfelt, P., Wijk, O., Austin, D., and Andersson, M. Experiments on augmenting condensation for mobile robot localization. In IEEE Intl. Conf. on Robotics and Automation (May 2000), pp. 2518-2524. (pdf).
[46]
Julier, S. J., and Uhlmann, J. K. Building a Million Beacon Map. In Sensor Fusion (2001), SPIE.
[47]
Jung, I. K., and Lacroix, S. High resolution terrain mapping using low altitude aerial stereo imagery. In ICCV (Nice (F), July 2003), IEEE. (pdf).
[48]
Konolige, K., and Gutmann, S. Incremental mapping of large cyclic environments. In Intl. Symp. on Comp Intell. in Rob and Aut. - CIRA-99 (Monterey, CA, November 1999). (pdf).
[49]
Leonard, J., and Newman, P. Consistent, convergent, and constant-time slam. In IJCAI (Acapulco, August 2003). (pdf).
[50]
Leonard, J. J., and Durrant-Whyte, H. F. Mobile robot localization by tracking geometric beacons. IEEE Trans on Robotics and Automation 7, 3 (June 1991), 376-382. (pdf).
[51]
Leonard, J. J., and Durrant-Whyte, H. F. Simultaneous map building and localization for an autonomous mobile robot. In IROS-91 (Osaka, Japan, 1991), pp. 1442-1447. (pdf).
[52]
Leonard, J. J., and Feder, H. J. S. Decoupled stochastic mapping. IEEE Journal of Ocean Engr 26, 4 (2001), 561-571. (pdf).
[53]
Leonard, J. J., Rikoski, R. J., Newman, P. M., and Bosse, M. Mapping partially observable features from multiple uncertain vantage points. Intl Jour of Robotics Research (2002). (pdf) .
[54]
Lu, F., and Milios, E. Globally consistent range scan alignment for environment mapping. Autonomous Robots 4 (1997), 333-349. (pdf).
[55]
Majumder, S., Durrant-Whyte, H., Thrun, S., and de Battista, M. An approximate bayesian method for simultaneous localisation and mapping. IEEE Transactions on Robotics and Automation, ((submitted)). (pdf).
[56]
Montemerlo, M., Thrun, S., Koller, D., and Wegbreit, B. Fastslam: A factored solution to the simultaneous localization and mapping problem. In AAAI-2002 (Vancouver, BC, July 2002). (pdf).
[57]
Moutarlier, P., and Chatila, R. Stochastic multisensory data fusion for mobile robot location and environement modelling. In ISRR (1989). (pdf).
[58]
Neira, J., D.Tardos, J., and A.Castellanos, J. Linear time vehicle relocation in slam. In ICRA (Taiwan, Sep 2003), IEEE. (pdf).
[59]
Neira, J., Ribeiro, M. I., and Tardos, J. D. Mobile robot localisation and map building using monocular vision. In Int. Symp. On Intelligent Robotics Systems (SIRS) (Stockholm (S), July 1997). (pdf).
[60]
Neira, J., and Tardós, J. D. Data association in stochastic mapping using the joint compatibility test. IEEE Trans on Robotics and Automation 17, 6 (December 2001), 890-897. (pdf).
[61]
Newman, P., and and  R. Rikovski, J. L. Towards constant-time slam on an autonomous underwater vehicle using synthetic aperture sonar. In ISRR (Sienna, Sep 2003). (pdf).
[62]
Newman, P., Leonard, J., Neira, J., and Tardós, J. Explore and return: Experimental validation of real time concurrent mapping and localization. In IEEE Conf on Robotics and Automation (Washington, DC, May 2002). (pdf.
[63]
Newman, P. M. On the Structure and Solution of the Simultaneous Localization and Map Building Problem. PhD thesis, ACFR, Univ of Sydney, Australia, March 1999. (pdf).
[64]
Newman, P. M., and Durrant-Whyte, H. F. A new solution to the simultaneous and map building (SLAM) problem. In SPIE (2001). (pdf).
[65]
Nieto, J., Guivant, J. E., and Nebot, E. M. The HYbrid Metric Maps (HYMMs): A novel map representation for denseslam. In ICRA (New Orleans (USA), May 2004), IEEE. (pdf).
[66]
Nieto, J., Guivant, J. E., Nebot, E. M., and Thrun, S. Real time data association for fastslam. In ICRA (Taiwan, Sep 2003), IEEE. (pdf).
[67]
Nister, D., Naroditsky, O., and Bergen, J. Visual odometry. In CVAP (2004), IEEE. (pdf).
[68]
Olson, E., Leonard, J., and Teller, S. Robust range-only beacon localization. In AUV-2004 (2004). (pdf).
[69]
Ortin, D., Neira, J., and Montiel, J. M. Relocation using laser and vision. In ICRA (New Orleans, April 2004), IEEE. (pdf).
[70]
Rikoski, R., Leonard, J., and Newman, P. Stochastic mapping frameworks. In IEEE Conf on Robotics and Automation (Washington, DC, May 2002). (pdf).
[71]
Rikovski, R., Leonard, J., Newman, P., and Schmidt, H. Trajectory sonar perception in the ligurian sea. In ISER (2004). (pdf).
[72]
Schulz, D., Burgard, W., Fox, D., and Cremers, A. B. Tracking multiple moving objects with a mobile robot. In CVAP-01 (Kauai, HW, December 2001), IEEE. (pdf).
[73]
Stachniss, C., and Burgard, W. Exploration with active loop-closing for fastslam. In IROS (Sendai (Japan), Sep 2004), IEEE/RSJ. (pdf).
[74]
Tardós, J. D., Neira, J., Newman, P. M., and Leonard, J. J. Robust mapping and localization in indoor environments using sonar data. The International Journal of Robotics Research (2002), (to appear). (pdf).
[75]
Thrun, S. Robotics mapping: A survey. Tech. Rep. CMU-CS-02-111, School of Computer Science, Carnegie Mellon University, Pittsburg, PA 15213, February 2002. (pdf).
[76]
Thrun, S., Burgard, W., and Fox, D. A probabilistic approach to concurrent mapping and localization for mobile robots. Machine Learning 31 (1998), 29-53. (pdf).
[77]
Thrun, S., Koller, D., Ghahmarani, Z., and Durrant-Whyte, H. Slam updates require constant time. Tech. rep., School of Computer Science, Carnegie Mellon University, 2002. (pdf).
[78]
Vaganay, J., Leonard, J., Curcio, J. A., and Willcox, J. S. Experimental validation of the moving long base-line navigation concept. In AUV (2004). (pdf).
[79]
Wijk, O., and Christensen, H. Triangulation based fusion of sonar data with application in robot pose tracking. IEEE Transaction on Robotics and Automation 16, 6 (Dec. 2000), 740-752. (pdf).
[80]
Williams, S., Dissanayake, G., and Durrant-Whyte, H. F. Constrained initialisation of the simultaneous localization and mapping algorithm. In Symp. Field and Service Robotics (FSR) (2001), IFRR, Springer Verlag. (pdf).
[81]
Williams, S. B. Efficient Solutions to Autonomous Mapping and Navigation Problems. PhD thesis, ACFR, Univ of Sydney, Australia, Sept 2001. (pdf).
[82]
Zunino, G., and Christensen, H. I. Simultaneous localisation and mapping in domestic environments. In Multisensor Fusion and Integration for Intelligent Systems - MFI-2001 (Baden-Baden, 2001), pp. 67-72. (pdf).
[83]
Zunino, G., and Christensen, H. I. Simultaneous mapping and localisation in domestic environments. In Multi-Sensory Fusion and Integration for Intelligent Systems (Baden-Baden, DE, August 2001), R. Dillmann, Ed., pp. 67-72. (pdf).



File translated from TEX by TTH, version 3.61.
On 10 Aug 2004, 19:15.