Transcription of A Tutorial on Graph-Based SLAM - uni-freiburg.de
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A Tutorial on Graph-Based SLAM - uni-freiburg.de
1A Tutorial on Graph-Based SLAMG iorgio GrisettiRainer K ummerleCyrill StachnissWolfram BurgardDepartment of Computer Science, University of Freiburg, 79110 Freiburg, GermanyAbstract Being able to build a map of the environment andto simultaneously localize within this map is an essential skill formobile robots navigating in unknown environments in absenceof external referencing systems such as GPS. This so-calledsimultaneous localization and mapping ( slam ) problem hasbeen one of the most popular research topics in mobile roboticsfor the last two decades and efficient approaches for solving thistask have been proposed. One intuitive way of formulating SLAMis to use a graph whose nodes correspond to the poses of the robotat different points in time and whose edges represent constraintsbetween the poses.
graph-based SLAM, the poses of the robot are modeled by nodes in a graph and labeled with their position in the environment [21], [18]. Spatial constraints between poses that result from observations zt or from odometry measurements ut are encoded in the edges between the nodes. More in detail, a graph-based SLAM algorithm constructs a graph out
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