A General Relationship Between Optimality Criteria and Connectivity Indices for Active Graph-SLAM

卷:8

Article

关键词: SIMULTANEOUS LOCALIZATION;    OPTIMAL-DESIGN;   

DOI  :  10.1109/LRA.2022.3233230

来源: SCIE

【 摘 要 】

Quantifying uncertainty is a key stage in active simultaneous localization and mapping (SLAM), as it allows to identify the most informative actions to execute. However, dealing with full covariance or even Fisher information matrices (FIMs) is computationally heavy and easily becomes intractable for online systems. In this letter, we study the paradigm of active graph-SLAM formulated over the special Euclidean group SE(n), and propose a general relationship between the FIM of the system and the Laplacian matrix of the underlying pose-graph. This link makes possible to use graph connectivity indices as utility functions with optimality guarantees, since they approximate the well-known optimality criteria that stem from optimal design theory. Experimental validation demonstrates that the proposed method leads to equivalent decisions for active SLAM in a fraction of the time.

【 授权许可】

Free