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Development of Globally Optimal Solutions to Simultaneous Localization and Mapping for Robot Navigation

Funding: 2012: $100,000
2013: $110,000
2014: $110,000

Project Member(s): Huang, S., Dissanayake, G.

Funding or Partner Organisation: Australian Research Council (ARC Discovery Projects)
Australian Research Council (Other funds for ARC projects)

Start year: 2012

Summary: Robot navigation in unknown environments requires a robot to simultaneously construct a map in real-time and localize itself within the map, particularly in the absence of external location reference such as a global positioning system. The project will develop in-depth understanding of the fundamental structure and properties of nonlinearity involved in Simultaneous Localization and Mapping (SLAM); efficient and reliable algorithm for solving very large scale SLAM problems; and reliable real time monocular SLAM algorithms. This will result in the development of robots that can reliably and continuously navigate in unknown environments, further enhancing Australia's world leading reputation in the field of robotics.

Publications:

Khosoussi, K, Giamou, M, Sukhatme, GS, Huang, S, Dissanayake, G & How, JP 2019, 'Reliable Graphs for SLAM', International Journal of Robotics Research, vol. 38, no. 2-3, pp. 260-298.
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Zhao, L, Huang, S & Dissanayake, G 2019, 'Linear SLAM: Linearising the SLAM problems using submap joining', AUTOMATICA, vol. 100, pp. 231-246.
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Huang, S & Dissanayake, G 2016, 'Robot Localization: An Introduction' in Wiley Encyclopedia of Electrical and Electronics Engineering, Wiley, USA.
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Bai, F, Huang, S, Vidal Calleja, TA & Zhang, Q 2016, 'Incremental SQP Method for Constrained Optimization Formulation in SLAM', Proceedings of the 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), International Conference on Control, Automation, Robotics and Vision, IEEE, Phuket, Thailand.
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Khosoussi, K, Huang, S & Dissanayake, G 2016, 'Tree-Connectivity: Evaluating the Graphical Structure of SLAM', Proceedings - IEEE International Conference on Robotics and Automation, IEEE International Conference on Robotics and Automation, IEEE, Stockholm, Sweden, pp. 1316-1322.
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Wang, Y, Xiong, R, Huang, S & Wu, J 2015, 'Multi-Session SLAM Over Low Dynamic Workspace Using RGBD Sensor', ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015, International Conference on Climbing and Walking Robots (CLAWAR), World Scientific, Hangzhou, China, pp. 633-640.
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Wang, H, Huang, S, Khosoussi, K, Frese, U, Dissanayake, G & Liu, B 2015, 'Dimensionality reduction for point feature SLAM problems with spherical covariance matrices', AUTOMATICA, vol. 51, pp. 149-157.
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Zhao, L, Huang, S & Dissanayake, G 2015, 'Linear SFM: A Hierarchical Approach to Solving Structure-from-Motion Problems by Decoupling the Linear and Nonlinear Components', ISPRS Journal of Photogrammetry and Remote Sensing, vol. 141, pp. 275-289.
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Zhao, L, Huang, S, Yan, L & Dissanayake, G 2015, 'A new feature parametrization for monocular SLAM using line features', Robotica, vol. 33, no. 3, pp. 513-536.
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Khosoussi, K, Huang, S & Dissanayake, G 2015, 'Exploiting the separable structure of SLAM', Robotics: Science and Systems, Robotics: Systems and Science, MIT Press, Rome, Italy, pp. 1-10.
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Zhao, L, Huang, S & Dissanayake, G 2015, 'Linear SFM: A Hierarchical Approach to Solving Structure-from-Motion Problems by Decoupling the Linear and Nonlinear C/C++ source code'.

Khosoussi, K, Huang, S & Dissanayake, G 2014, 'Novel Insights into the Impact of Graph Structure on SLAM', 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Chicago, IL, pp. 2707-2714.
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Wang, Y & Huang, S 2014, 'Motion Segmentation based Robust RGB-D SLAM', WCICA 2014 USB Stick Proceedings, World Congress on Intelligent Control and Automation (WCICA), IEEE, Shenyang, China.
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Wang, H, Huang, S, Frese, U & Dissanayake, G 2013, 'The nonlinearity structure of point feature SLAM problems with spherical covariance matrices', Automatica, vol. 49, pp. 3112-3119.
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Zhao, L, Huang, S & Dissanayake, G 2013, 'Linear SLAM: A Linear Solution to the Feature-based, Pose Graph and D-SLAM based on Submap Joining MATLAB and C/C++ source code', OpenSLAM.

Zhao, L, Huang, S, Sun, Y & Dissanayake, G 2013, 'ParallaxBA: Bundle Adjustment using Parallax Angle Feature Parametrization C/C++ source code', OpenSLAM.

Ahmad, A, Zhao, L, Huang, S & Dissanayake, G 2012, 'Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations', 2012 International Conference on Control, Automation, Robotics & Vision (ICARCV ), International Conference on Control, Automation, Robotics and Vision, IEEE, Guangzhou, China, pp. 1006-1011.
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Himstedt, M, Alempijevic, A, Zhao, L, Huang, S & Boehme, H 2012, 'Towards robust vision-based self-localization of vehicles in dense urban environments', 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Algarve, Portugal, pp. 3152-3157.
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Hu, G, Huang, S, Zhao, L, Alempijevic, A & Dissanayake, G 2012, 'A Robust RGB-D SLAM algorithm', 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Algarve, Portugal, pp. 1174-1179.
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Zhao, L, Huang, S, Yan, L & Dissanayake, G 2011, 'Parallax angle parametrization for monocular SLAM', 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE International Conference on Robotics and Automation, IEEE, Shanghai, China, pp. 3117-3124.
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Keywords: Simultaneous Localization and Mapping Robot NavigationAutonomous Systems

FOR Codes: Adaptive Agents and Intelligent Robotics, Expanding Knowledge in Engineering