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 (Other funds for ARC projects)
Australian Research Council (ARC Discovery 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', The 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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Zhao, L, Huang, S & Dissanayake, G 2018, '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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Huang, S & Dissanayake, G 2016, 'Robot Localization: An Introduction' in Wiley Encyclopedia of Electrical and Electronics Engineering, Wiley, USA, pp. 1-10.
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Bai, F, Huang, S, Vidal-Calleja, T & Zhang, Q 1970, 'Incremental SQP method for constrained optimization formulation in SLAM', 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), IEEE, Phuket, Thailand, pp. 1-6.
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Khosoussi, K, Shoudong Huang & Dissanayake, G 1970, 'Tree-connectivity: Evaluating the graphical structure of SLAM', 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Stockholm, Sweden, pp. 1316-1322.
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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, 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 1970, 'Exploiting the Separable Structure of SLAM', Robotics: Science and Systems XI, Robotics: Science and Systems 2015, Robotics: Science and Systems Foundation, Rome, Italy, pp. 1-10.
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WANG, YUE, XIONG, R, HUANG, S & WU, JUN 1970, 'MULTI-SESSION SLAM OVER LOW DYNAMIC WORKSPACE USING RGBD SENSOR', Assistive Robotics, CLAWAR 2015: 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, WORLD SCIENTIFIC, Hangzhou, China, pp. 633-640.
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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 1970, 'Novel insights into the impact of graph structure on SLAM', 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE, Chicago, IL, pp. 2707-2714.
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Wang, Y & Huang, S 1970, 'Motion segmentation based robust RGB-D SLAM', Proceeding of the 11th World Congress on Intelligent Control and Automation, 2014 11th World Congress on Intelligent Control and Automation (WCICA), IEEE, Shenyang, China, pp. 3122-3127.
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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, no. 10, 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 & IEEE 1970, 'Convergence Comparison of Least Squares Based Bearing-Only SLAM Algorithms Using Different Landmark Parametrizations', 2012 12TH 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-J 1970, 'Towards robust vision-based self-localization of vehicles in dense urban environments', 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), IEEE, Algarve, Portugal, pp. 3152-3157.
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Hu, G, Huang, S, Zhao, L, Alempijevic, A & Dissanayake, G 1970, 'A robust RGB-D SLAM algorithm', 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), IEEE, Algarve, Portugal, pp. 1714-1719.
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Zhao, L, Huang, S, Yan, L, Dissanayake, G & IEEE 1970, '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, Intelligent robotics

Acknowledgement of Country

UTS acknowledges the Gadigal people of the Eora Nation, the Boorooberongal people of the Dharug Nation, the Bidiagal people and the Gamaygal people, upon whose ancestral lands our university stands. We would also like to pay respect to the Elders both past and present, acknowledging them as the traditional custodians of knowledge for these lands.