Robust Pose-Graph SLAM Using Absolute Orientation Sensing
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© 2016 IEEE. It is known that in the simultaneous localization and mapping (SLAM) problem when a robot's orientation is known, an estimation of the history of its poses can be formulated as a standard linear least squares problem. In this letter, we exploit this property of SLAM to develop a robust pose-graph SLAM framework that uses absolute orientation sensing. Our contribution are as follows: 1) we show that absolute orientation can be estimated using local structural cues; and 2) we develop a method to incorporate absolute orientation measurements in both the front and back-end of pose-graph SLAM. We also demonstrate our approach through extensive simulations and a physical real-world demonstration along with comparisons against existing state-of-the-art solvers that do not use absolute orientation.
author list (cited authors)
Agarwal, S., Parunandi, K. S., & Chakravorty, S.