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dc.contributor.authorBriales, Jesus
dc.contributor.authorGonzalez-Jimenez, Antonio Javier 
dc.date.accessioned2016-10-20T11:44:47Z
dc.date.available2016-10-20T11:44:47Z
dc.date.created2016
dc.date.issued2016-10-20
dc.identifier.urihttp://hdl.handle.net/10630/12249
dc.descriptionJ. Briales, J. Gonzalez-Jimenez, "Fast Global Optimality Verification in 3D SLAM", in Int. Conf. on Intelligent Robots and Systems (IROS), Daejeon, Korea, IEEE/RSJ, pp. 4630-4636, 2016es_ES
dc.description.abstractGraph-based SLAM has proved to be one of the most effective solutions to the Simultaneous localization and Mapping problem. This approach relies on nonlinear iterative optimization methods that in practice perform both accurately and efficiently. However, due to the non-convexity of the problem, the obtained solutions come with no guarantee of global optimality and may get stuck in local minima. The application of SLAM to many real-world applications cannot be conceived without additional control tools that detect possible suboptimalities as soon as possible in order to take corrective action and avoid catastrophic failure of the entire system. This paper builds upon the state-of-the-art framework [1] in verification for this problem and introduces a novel superior formulation that leads to a much higher efficiency. While retaining the same high effectiveness, the verification times of our proposal reduce up to >50x, paving the way for faster verification in critical real applications or in embedded low-power systems.We support our claims with extensive experiments with real and simulated data.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Spanish grant program FPU14/06098 and the project PROMOVE (DPI2014-55826-R), funded by the Spanish Government and the "European Regional Development Fund".es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.subjectRobóticaes_ES
dc.subject.otherMobile robotes_ES
dc.subject.otherComputer visiones_ES
dc.subject.otherPose graph optimizationes_ES
dc.titleFast Global Optimality Verification in 3D SLAMes_ES
dc.typeinfo:eu-repo/semantics/conferenceObjectes_ES
dc.centroE.T.S.I. Informáticaes_ES
dc.relation.eventtitleInt. Conf. on Intelligent Robots and Systems (IROS)es_ES
dc.relation.eventplaceDaejeon, Koreaes_ES
dc.relation.eventdateOctubre 2016es_ES
dc.identifier.orcidhttp://orcid.org/0000-0003-3845-3497es_ES
dc.cclicenseby-nc-ndes_ES


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