Global Optimal Solution to SLAM Problem with Unknown Initial Estimates

Usman Qayyum; Jonghyuk Kim

Research.Publish.Connect.

*Please fill out at least one Field. *Value must be an number!

Title:
ISBN:
Year:
Acronym:
Subject:

Advanced Search Proceedings Search

If you're looking for an exact phrase use quotation marks on text fields.

*Please fill out at least one Field.

Title:
Author:
Affiliation:
Subject:

Advanced Search Papers Search

If you're looking for an exact phrase use quotation marks on text fields.

*Please fill out at least one Field.

Name:
Affiliation:
Country:
Conference:
Subject:

Advanced Search Authors Search

If you're looking for an exact phrase use quotation marks on text fields.

*Please fill out at least one Field.

Name:
Country:
Subject:

Advanced Search Affiliations Search

If you're looking for an exact phrase use quotation marks on text fields.

Proceedings

Proceedings Search *Please fill out at least one Field. *Value must be an number!

Title:
ISBN:
Year:
Acronym:
Subject:

Advanced Search Proceedings Search

If you're looking for an exact phrase use quotation marks on text fields.

Papers

Papers Search *Please fill out at least one Field.

Title:
Author:
Affiliation:
Subject:

Advanced Search Papers Search

If you're looking for an exact phrase use quotation marks on text fields.

Authors

Authors Search *Please fill out at least one Field.

Name:
Affiliation:
Country:
Conference:
Subject:

Advanced Search Authors Search

If you're looking for an exact phrase use quotation marks on text fields.

Advanced Search

Paper

Global Optimal Solution to SLAM Problem with Unknown Initial Estimates

Topics: Optimization Algorithms

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 76-83, 2012 , Rome, Italy

Authors: Usman Qayyum and Jonghyuk Kim

Affiliation: Australian National University, Australia

Keyword(s): Greedy Random Adaptive Search Procedure, Gauss-Newton Optimization, Optimal Solution, Map-joining.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms

Abstract: The paper presents a practical approach for finding the globally optimal solution to SLAM. Traditional methods are based upon local optimization based strategies and are highly susceptible to local minima due to non-convex nature of the SLAM problem. We employed the nonlinear global optimization based approach to SLAM by exploiting the theoretical limit on the numbers of local minima. Our work is not reliant on good initial guess, whereas existing approaches in SLAM literature assume good starting point to avoid local minima problem. The paper presents experimental results on different datasets to validate the robustness of the approach, finding the global basin of attraction with unknown initial guess.

CC BY-NC-ND 4.0

Guest: Register as new SciTePress user now for free.

SciTePress user: please login.

My Papers

You are not signed in, therefore limits apply to your IP address 18.189.184.99

In the current month:

Recent papers: 100 available of 100 total

2⁺ years older papers: 200 available of 200 total

Paper citation in several formats:

Qayyum, U. and Kim, J. (2012). Global Optimal Solution to SLAM Problem with Unknown Initial Estimates. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-21-1; ISSN 2184-2809, SciTePress, pages 76-83. DOI: 10.5220/0004040100760083

@conference{icinco12,
author={Usman Qayyum. and Jonghyuk Kim.},
title={Global Optimal Solution to SLAM Problem with Unknown Initial Estimates},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2012},
pages={76-83},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004040100760083},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Global Optimal Solution to SLAM Problem with Unknown Initial Estimates
SN - 978-989-8565-21-1
IS - 2184-2809
AU - Qayyum, U.
AU - Kim, J.
PY - 2012
SP - 76
EP - 83
DO - 10.5220/0004040100760083
PB - SciTePress