Rao-Blackwellized Posterior Linearization Backward SLAM

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Rao-Blackwellized Posterior Linearization Backward SLAM. / García-Fernández, Ángel F.; Hostettler, Roland; Särkkä, Simo.

In: IEEE Transactions on Vehicular Technology, Vol. 68, No. 5, 8662708, 01.05.2019, p. 4734-4747.

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García-Fernández, Ángel F. ; Hostettler, Roland ; Särkkä, Simo. / Rao-Blackwellized Posterior Linearization Backward SLAM. In: IEEE Transactions on Vehicular Technology. 2019 ; Vol. 68, No. 5. pp. 4734-4747.

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@article{a1f96468cf984b429024265911c08562,
title = "Rao-Blackwellized Posterior Linearization Backward SLAM",
abstract = "This paper proposes the posterior linearisation backward simultaneous localisation 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-Blackwellised 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 linearisation to obtain Gaussian approximations of the distribution of the landmarks. PLB-SLAM is assessed via numerical simulations and real experiments for indoor localisation and mapping of radio beacons using a smartphone, Bluetooth beacons, and Wi-Fi access points.",
keywords = "simultaneous localisation and mapping, back-ward simulation, posterior linearisation, Rao-Blackwellisation, bluetooth beacons, Wi-Fi access points, smartphone, Rao-Blackwellization, backward simulation, Simultaneous localization and mapping, Bluetooth beacons, posterior linearization",
author = "Garc{\'i}a-Fern{\'a}ndez, {{\'A}ngel F.} and Roland Hostettler and Simo S{\"a}rkk{\"a}",
year = "2019",
month = "5",
day = "1",
doi = "10.1109/TVT.2019.2903569",
language = "English",
volume = "68",
pages = "4734--4747",
journal = "IEEE Transactions on Vehicular Technology",
issn = "0018-9545",
number = "5",

}

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TY - JOUR

T1 - Rao-Blackwellized Posterior Linearization Backward SLAM

AU - García-Fernández, Ángel F.

AU - Hostettler, Roland

AU - Särkkä, Simo

PY - 2019/5/1

Y1 - 2019/5/1

N2 - This paper proposes the posterior linearisation backward simultaneous localisation 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-Blackwellised 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 linearisation to obtain Gaussian approximations of the distribution of the landmarks. PLB-SLAM is assessed via numerical simulations and real experiments for indoor localisation and mapping of radio beacons using a smartphone, Bluetooth beacons, and Wi-Fi access points.

AB - This paper proposes the posterior linearisation backward simultaneous localisation 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-Blackwellised 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 linearisation to obtain Gaussian approximations of the distribution of the landmarks. PLB-SLAM is assessed via numerical simulations and real experiments for indoor localisation and mapping of radio beacons using a smartphone, Bluetooth beacons, and Wi-Fi access points.

KW - simultaneous localisation and mapping

KW - back-ward simulation

KW - posterior linearisation

KW - Rao-Blackwellisation

KW - bluetooth beacons

KW - Wi-Fi access points

KW - smartphone

KW - Rao-Blackwellization

KW - backward simulation

KW - Simultaneous localization and mapping

KW - Bluetooth beacons

KW - posterior linearization

UR - http://www.scopus.com/inward/record.url?scp=85066625406&partnerID=8YFLogxK

U2 - 10.1109/TVT.2019.2903569

DO - 10.1109/TVT.2019.2903569

M3 - Article

VL - 68

SP - 4734

EP - 4747

JO - IEEE Transactions on Vehicular Technology

JF - IEEE Transactions on Vehicular Technology

SN - 0018-9545

IS - 5

M1 - 8662708

ER -

ID: 33799842