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CI-Graph simultaneous localization and mapping for three-dimensional reconstruction of large and complex environments using a multicamera system by Pedro Piniés; Lina María Paz; Dorian Gálvez-López; Juan D. Tardós is a Engineering article available to read on EtoBox.

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## Abstract Submapping and graphical methods have been shown to be valuable approaches to simultaneous localization and mapping (SLAM), providing significant advantages over the classical extended Kalman filter (EKF) solution: they are faster and, when using __local coordinates__, produce more consistent estimates. The main contribution of this paper is __CI‐Graph SLAM__, a novel algorithm that is able to efficiently map large environments by building a graph of submaps and a spanning tree of this graph with the following properties: (1) any pair of neighboring submaps in the spanning tree are __conditionally independent__ and (2) the current submap is always up to date, containing the marginal probabilities of the submap variables given all previous measurements. Thanks to these properties, an old submap can be updated at any time by performing a single propagation from the current map to the old submap along the spanning tree. This operation is required only when a map is revisited, with a cost linear with the number of maps in the loop. At the end of the experiment the method performs a single propagation through the whole tree, recovering exactly the same marginals for all the

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Author

Pedro Piniés; Lina María Paz; Dorian Gálvez-López; Juan D. Tardós

Publisher

Wiley (John Wiley & Sons); John Wiley & Sons Ltd.; Wiley (ISSN 1556-4959)

Published

2010

Language

EN

Field

Engineering (Physical Sciences)