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A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs

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journal contribution
posted on 01.10.2009, 00:00 by Stephen Tully, George Kantor, Howie Choset, Felix Werner

We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a probabilistically grounded multi-hypothesis technique that relies on the incremental construction of a map/state hypothesis tree. Loop closing is introduced automatically within the tree expansion, and likely hypotheses are chosen based on their posterior probability after a sequence of sensor measurements. Careful pruning of the hypothesis tree keeps the growing number of hypotheses under control and a recursive formulation reduces storage and computational costs. Experiments are used to validate the approach.




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