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Informatics in Control, Automation and Robotics pp 35–49Cite as

Global Optimization for 2D SLAM Problem

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 283))

Abstract

A globally optimal approach is proposed in this work for map-joining SLAM problem. Traditionally local optimization based approaches are adapted for SLAM problem but due to highly non-convex nature of the SLAM problem, they are susceptible to local minima. In this work, we have exploited the theoretical limit on the number of local minima. The proposed approach is not dependent upon the good initial guess whereas existing approaches in SLAM literature requires a good starting point for convergence to the basin of global minima. Simulation and real dataset results are provided to validate the robustness of the approach to converge to global minima. This chapter provides the robotics community to look into the SLAM problem with global optimization approach by guarantying the global optimal solution in a least square cost function particularly when covariance matrices are defined as spherical.

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Acknowledgments

This work is supported by the ARC DP Project (DP0987829) funded by the Australian Research Council (ARC). We are also thankful to [10] and [19] for open source implementation and datasets.

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Authors and Affiliations

  1. School of Engineering, Australian National University, Canberra, ACT 0200, Australia

    Usman Qayyum & Jonghyuk Kim

Authors
  1. Usman Qayyum
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  2. Jonghyuk Kim
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Correspondence to Usman Qayyum .

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Editors and Affiliations

  1. Labo. d’Ingénierie des Systémes Automatisés (LISA), Institute of Science and Technology of Angers Engineer (ISTIA), Angers, France

    Jean-Louis Ferrier

  2. Ecole Centrale de Nantes, Nantes Cédex 3, France

    Alain Bernard

  3. RIC Builidng, Ford Research and Advanced Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  4. Domaine Chérioux, LISSI, Vitry sur Seine, France

    Kurosh Madani

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Qayyum, U., Kim, J. (2014). Global Optimization for 2D SLAM Problem. In: Ferrier, JL., Bernard, A., Gusikhin, O., Madani, K. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 283. Springer, Cham. https://doi.org/10.1007/978-3-319-03500-0_3

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  • DOI: https://doi.org/10.1007/978-3-319-03500-0_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03499-7

  • Online ISBN: 978-3-319-03500-0

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