An Atlas framework for scalable mapping

By M. Bosse, Paul M. Newman, John J. Leonard, Martin Soika, Wendelin Feiten, Seth J. Teller. IEEE International Conference on Robotics and Automation, 2003

418 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Geology

View Paper: https://www.semanticscholar.org/paper/b111d1a15b1a03435bcfc90289ab9e7c8845601a

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Citations in the corpus

Fast iterative alignment of pose graphs with poor initial estimates (2006, background): “A hybrid of linear and nonlinear solutions is Bosse’s Atlas [13], which uses linearized (EKF-based) submaps but stitches them together using nonlinear optimization.”
Robust map optimization using dynamic covariance scaling (2013, background): “Since then, many approaches for minimizing the error in the constraint network have been proposed, including relaxation methods [13], [3], stochastic gradient descent and its variants [2], [14], smoothing techniques [4] and hierarchical techniques [15], [1].”
A Tutorial on Graph-Based SLAM (2010, methodology): “The ATLAS framework [2] constructs a two-level hierarchy of graphs and employs a Kalman ﬁlter to construct the bottom level.”
FastSLAM: a factored solution to the simultaneous localization and mapping problem (2002, background): “constant time [32, 1, 3 , 5] to incorporate sensor observatio ns.”
Consistency of the EKF-SLAM Algorithm (2006, methodology): “For very large-scale maps, submap methods, such as network coupled feature maps (NCFM) [1] and ATLAS [3], are currently the only solutions that avoid data-fusion with large heading variance.”
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping (2008, methodology): “As in [3], an efficient search of the net (O(n log n)) can be done using Dijkstra’s method [37].”
Visual simultaneous localization and mapping: a survey (2012, methodology): “In the literature there are different methods to reduce this complexity through techniques such as: Atlas Framework (Bosse et al. 2003), Compressed Extended Kalman Filter (CEKF) (Guivant 2002), Sparse Extended Information Filter (SEIF) (Thrun et al. 2002), Divide and Conquer in O(n) given by Paz et ”
An efficient fastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements (2003, background): “This problem has long been acknowledged for its hardness, and a number of approaches have addressed it [4], [9], [20].”
Simultaneous Localization, Mapping and Moving Object Tracking (2007, methodology): “Approaches using approximate inference, using exact inference on tractable approximations of the true model, and using approximate inference on an approximate model have been proposed (Paskin 2003 Thrun et al., 2002 Bosse et al., 2003 Guivant and Nebot, 2001 Leonard and Feder 1999 Montemerlo, 2003).”
Simultaneous Localization and Mapping with Sparse Extended Information Filters (2004, methodology): “…al. / Simultaneous Localization and Mapping 707 In our simulations, we focused particularly on the " loop closing " problem, which is generally acknowledged to be one of the hardest problems in SLAM (Lu and Milios 1997; Gutmann and Konolige 1999; Thrun 2000; Bosse et al. 2003; Hähnel et al. 2003a).”
Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving (2017, neutral): “The Atlas framework [30] takes advantage of a graph structure where nodes are submaps and vertices the transformation between two submaps.”
MonoSLAM: Real-Time Single Camera SLAM (2007, methodology): “, [20], [21]) and factorized particle filtering (e.”
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures (2006, methodology): “The EKF was introduced mathematically by Cheeseman and Smith (1986), and implemented by Moutarlier and Chatila (1989a). This research has led to hundreds of extensions in recent years.”
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters (2007, background): “[1] describe a generic framework for SLAM in large-scale environments.”
Mobile Robot Localisation and Mapping in Extensive Outdoor Environments (2002, background): “However, the author was made aware of this seminar only after submission of this thesis in August, and written details of the approach [18] only became available in October 2002.”