Planning Reliable Paths With Pose SLAM

The maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, with the consequent increase in complexity. Here, we propose a method that directly uses the Pose SLAM graph of constraints to determine the path between two robot configurations with lowest accumulated pose uncertainty, i.e., the most reliable path to the goal. The method shows improved navigation results when compared with standard path-planning strategies over both datasets and real-world experiments.

• Publication year

  2013

• Venue

  IEEE Transactions on robotics

• Publication date

  2013-08-01

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/TRO.2013.2257577
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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