Georgiou, C., Anderson, S. orcid.org/0000-0002-7452-5681 and Todd, T. (2017) Constructing informative Bayesian map priors: A multi-objective optimisation approach applied to indoor occupancy grid mapping. The International Journal of Robotics Research. ISSN 0278-3649
Abstract
The problem of simultaneous localisation and mapping (SLAM) has been addressed in numerous ways with different approaches aiming to produce faster, more robust solutions that yield consistent maps. This focus, however, has resulted in a number of solutions that perform poorly in challenging real life scenarios. In order to achieve improved performance and map quality this article proposes a novel method to construct informative Bayesian mapping priors through a multi-objective optimisation of prior map design variables defined using a source of prior information. This concept is explored for 2D occupancy grid SLAM, constructing such priors by extracting structural information from architectural drawings and identifying optimised prior values to assign to detected walls and empty space. Using the proposed method a contextual optimised prior can be constructed. This prior is found to yield better quantitative and qualitative performance than the commonly used non-informative prior, yielding an increase of over 20% in the F2 metric. This is achieved without adding to the computational complexity of the SLAM algorithm, making it a good fit for time critical real life applications such as search and rescue missions.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 The Authors. This is an author produced version of a paper subsequently published in International Journal of Robotics Research. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | SLAM; Bayesian estimation; informative priors |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 01 Feb 2017 13:57 |
Last Modified: | 22 Mar 2018 19:43 |
Published Version: | https://doi.org/10.1177/0278364916687027 |
Status: | Published |
Publisher: | SAGE Publications |
Refereed: | Yes |
Identification Number: | 10.1177/0278364916687027 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:111297 |