single-rb.php

JRM Vol.35 No.6 pp. 1480-1488
doi: 10.20965/jrm.2023.p1480
(2023)

Paper:

Robust Posegraph Optimization Using Proximity Points

Yuichi Tazaki ORCID Icon, Kotaro Wada, Hikaru Nagano ORCID Icon, and Yasuyoshi Yokokohji ORCID Icon

Graduate School of Engineering, Kobe University
Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-0013, Japan

Received:
May 30, 2023
Accepted:
August 2, 2023
Published:
December 20, 2023
Keywords:
mobile robot, proximity points, robust posegraph optimization
Abstract

This paper proposes a robust posegraph optimization (PGO) method for posegraphs with keypoints. In the conventional PGO formulation, a loop constraint is defined between a pair of nodes, whereas in the proposed method, it is defined between a pair of keypoints. In this manner, robust PGO based on switch variables can be realized in a more fine-grained manner. Loop constraint is defined based on the unique geometric property of proximity point, and implemented as a new edge type of the g2o solver. The proposed method is compared with other robust PGO methods using real world data recorded in Nakanoshima Robot Challenge 2021.

An example of robust posegraph optimization using proximity points

An example of robust posegraph optimization using proximity points

Cite this article as:
Y. Tazaki, K. Wada, H. Nagano, and Y. Yokokohji, “Robust Posegraph Optimization Using Proximity Points,” J. Robot. Mechatron., Vol.35 No.6, pp. 1480-1488, 2023.
Data files:
References
  1. [1] C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, and J. J. Leonard, “Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age,” IEEE Trans. on Robotics, Vol.32, No.6, pp. 1309-1332, 2016. https://doi.org/10.1109/TRO.2016.2624754
  2. [2] D. M. Cole and P. M. Newman, “Using laser range data for 3d slam in outdoor environments,” IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1556-1563, 2006. https://doi.org/10.1109/ROBOT.2006.1641929
  3. [3] R. Kümmerle, G. Grisetti, H. Strasdat, K. Konolige, and W. Burgard, “g2o: A general framework for graph optimization,” IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 3607-3613, 2011. https://doi.org/10.1109/ICRA.2011.5979949
  4. [4] N. Sünderhauf and P. Protzel, “Switchable constraints for robust pose graph slam,” IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1879-1884, 2012. https://doi.org/10.1109/IROS.2012.6385590
  5. [5] N. Sünderhauf and P. Protzel, “Towards a robust back-end for pose graph slam,” IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1254-1261, 2012. https://doi.org/10.1109/ICRA.2012.6224709
  6. [6] P. Agarwal, G. D. Tipaldi, L. Spinello, C. Stachniss, and W. Burgard, “Robust map optimization using dynamic covariance scaling,” 2013 IEEE Int. Conf. on Robotics and Automation, pp. 62-69, 2013. https://doi.org/10.1109/ICRA.2013.6630557
  7. [7] G. Hu, K. Khosoussi, and S. Huang, “Towards a reliable slam back-end,” IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 37-43, 2013. https://doi.org/10.1109/IROS.2013.6696329
  8. [8] G. Agamennoni, P. Furgale, and R. Siegwart, “Self-tuning m-estimators,” IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 4628-4635, 2015. https://doi.org/10.1109/ICRA.2015.7139840
  9. [9] F. Wu and G. Beltrame, “Cluster-based penalty scaling for robust pose graph optimization,” IEEE Robotics and Automation Letters, Vol.5, No.4, pp. 6193-6200, 2020. https://doi.org/10.1109/LRA.2020.3011394
  10. [10] Y. Tazaki, Y. Miyauchi, and Y. Yokokohji, “Loop detection of outdoor environment using proximity points of 3d pointcloud,” IEEE/SICE Int. Symposium on System Integration (SII), pp. 411-416, 2017. https://doi.org/10.1109/SII.2017.8279247
  11. [11] Y. Tazaki and Y. Yokokohji, “Outdoor autonomous navigation utilizing proximity points of 3d pointcloud,” J. Robot. Mechatron., Vol.32, No.6, pp. 1183-1192, 2020. https://doi.org/10.20965/jrm.2020.p1183

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jun. 03, 2024