Garcia-Fernandez, Angel F ORCID: 0000-0002-6471-8455, Hostettler, Roland and Sarkka, Simo
(2019)
Rao-Blackwellized Posterior Linearization Backward SLAM.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 68 (5).
pp. 4734-4747.
Text
PLBSLAM_accepted.pdf - Author Accepted Manuscript Download (7MB) |
Abstract
This paper proposes the posterior linearization backward simultaneous localization and mapping (PLB-SLAM) algorithm for batch SLAM problems. Based on motion and landmark measurements, we aim to estimate the trajectory of the mobile agent and the landmark positions using an approximate Rao-Blackwellized Monte Carlo solution, as in FastSLAM. PLB-SLAM improves the accuracy of current FastSLAM solutions due to two key aspects: smoothing of the trajectory distribution via backward trajectory simulation and the use of iterated posterior linearization to obtain Gaussian approximations of the distribution of the landmarks. PLB-SLAM is assessed via numerical simulations and real experiments for indoor localization and mapping of radio beacons using a smartphone, Bluetooth beacons, and Wi-Fi access points.
Item Type: | Article |
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Uncontrolled Keywords: | Simultaneous localization and mapping, backward simulation, posterior linearization, Rao-Blackwellization, Bluetooth beacons, Wi-Fi access points, smartphone |
Depositing User: | Symplectic Admin |
Date Deposited: | 11 Mar 2019 08:26 |
Last Modified: | 17 Mar 2024 03:12 |
DOI: | 10.1109/TVT.2019.2903569 |
Related URLs: | |
URI: | https://livrepository.liverpool.ac.uk/id/eprint/3034026 |