Simultaneous localization and mapping (SLAM) is a fundamental problem in mobile robotics. The ever growing number of landmarks during robot action is still a problem on the way to lifelong operation. The reason is that the continuously growing number of landmarks leads to an unbounded increase of computational complexity in terms of computational power and memory.
We present a novel approach to define the benefit of a landmark in SLAM to address bounded resources. The general idea of our approach is to remove landmarks with a low localization benefit. We keep landmarks such, that their observability regions cover the operational area. The rational behind this is that the position of a landmark itself does not give a hint on its usefulness for robot localization. However, ensuring landmark visibility within the operational area leads to a minimum localization quality in the whole operational area.
We compare our approach of handling landmarks against the standard approach without upper bound on the number of landmarks in real-world experiments. These experiments are performed on a P3DX-platform with a Visual SLAM approach.
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
Tel.: +1 703 830 6300
Fax: +1 703 830 2300 email@example.com
(Corporate matters and books only) IOS Press c/o Accucoms US, Inc.
For North America Sales and Customer Service
West Point Commons
Lansdale PA 19446
Tel.: +1 866 855 8967
Fax: +1 215 660 5042 firstname.lastname@example.org