Concurrent filtering and smoothing

Michael Kaess, Stephen Williams, Vadim Indelman, Richard Roberts, John J. Leonard, Frank Dellaert

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a novel algorithm for integrating real-time filtering of navigation data with full map/trajectory smoothing. Unlike conventional mapping strategies, the result of loop closures within the smoother serve to correct the real-time navigation solution in addition to the map. This solution views filtering and smoothing as different operations applied within a single graphical model known as a Bayes tree. By maintaining all information within a single graph, the optimal linear estimate is guaranteed, while still allowing the filter and smoother to operate asynchronously. This approach has been applied to simulated aerial vehicle sensors consisting of a high-speed IMU and stereo camera. Loop closures are extracted from the vision system in an external process and incorporated into the smoother when discovered. The performance of the proposed method is shown to approach that of full batch optimization while maintaining real-time operation.

Original languageEnglish
Title of host publication15th International Conference on Information Fusion, FUSION 2012
Pages1300-1307
Number of pages8
StatePublished - 2012
Event15th International Conference on Information Fusion, FUSION 2012 - Singapore, Singapore
Duration: 7 Sep 201212 Sep 2012

Publication series

Name15th International Conference on Information Fusion, FUSION 2012

Conference

Conference15th International Conference on Information Fusion, FUSION 2012
Country/TerritorySingapore
CitySingapore
Period7/09/1212/09/12

Keywords

  • Bayes tree
  • Navigation
  • factor graph
  • filtering
  • loop closing
  • smoothing

All Science Journal Classification (ASJC) codes

  • Information Systems

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