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Low Data Overlap Rate Graph-Based SLAM with Distributed Submap Strategy

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Abstract

Simultaneous localization and mapping (SLAM) is widely used in many robot applications to acquire the unknown environment’s map and the robot’s location. Graph-based SLAM is demonstrated to be effective in large-scale scenarios, and it intuitively performs the SLAM as a pose graph. But because of the high data overlap rate, traditional graph-based SLAM is not efficient in some respects, such as real time performance and memory usage. To reduce data overlap rate, a graph-based SLAM with distributed submap strategy (DSS) is presented. In its front-end, submap based scan matching is processed and loop closing detection is conducted. Moreover in its back-end, pose graph is updated for global optimization and submap merging. From a series of experiments, it is demonstrated that graph-based SLAM with DSS reduces 51.79% data overlap rate, decreases 39.70% runtime and 24.60% memory usage. The advantages over other low overlap rate method is also proved in runtime, memory usage, accuracy and robustness performance.

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Authors and Affiliations

  1. Key laboratory of Specialty Fiber Optics and Optical Access Networks, Shanghai University, Shanghai, 200444, China

    Jiawei Xiang  (相家炜), Jinyi Zhang  (张金艺) & Bin Wang  (王彬)

  2. Institute of System Integration, Shanghai Sansi Electronic Engineering Co., Ltd., Shanghai, 201100, China

    Yongbin Ma  (马永滨)

Authors
  1. Jiawei Xiang  (相家炜)
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  2. Jinyi Zhang  (张金艺)
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  3. Bin Wang  (王彬)
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  4. Yongbin Ma  (马永滨)
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Corresponding author

Correspondence to Jiawei Xiang  (相家炜).

Additional information

Foundation item: the Project Fund for Key Discipline of the Shanghai Municipal Education Commission (No. J50104), and the Major State Basic Research Development Program of China (No. 2017YFB0403500)

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Xiang, J., Zhang, J., Wang, B. et al. Low Data Overlap Rate Graph-Based SLAM with Distributed Submap Strategy. J. Shanghai Jiaotong Univ. (Sci.) 25, 650–658 (2020). https://doi.org/10.1007/s12204-020-2201-4

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  • DOI: https://doi.org/10.1007/s12204-020-2201-4

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