Abstract
In the complex indoor scene, the RatSLAM, a rodent model navigation algorithm, will suffer a performance reduction due to light changes or other factors. Based on this the RTAB-Map closed loop detection strategy is introduced into the RatSLAM system, which can, through closed loop detection, eliminate the accumulative errors cause by the experience map of pose cells and local view cells, and thus to improve the instability of performance due to light changes or other factors. However complex scene, such as moving obstructions, will lead to mistakes in the visual odometer’s identification of speeds and thus cause conspicuous skewing of the navigation trail, which sometimes cannot be corrected through scene reorientation. This paper proposes a RatSLAM model with pose measurement module and RTAB-Map closed loop detection algorithm. The improvements are as follows. First, by fusing RTAB-Map closed loop detection, the phenomenon of odometer drifting under RatSLAM bionic algorithm due to error accumulation of friction or other factors like light changes can be improved; second, RTAB-Map algorithm itself improves the system real-time performance by using four kinds of memorizers; last but not least, the fusion of pose measuring module can prevent emergent obstruction from disturbing the visual odometer to obtain speed information, and it is more accurate when combined with sensor technology.
Similar content being viewed by others
References
Welch, G., Bishop, G.: An Introduction to the Kalman filter, vol. 8, pp. 127–132. University of North Carolina, Chapel Hill (1995)
Bian, M., Wang, J., Liu, W.: Robust and reliable estimation via recursive nonlinear dynamic data reconciliation based on cubature Kalman filter. Clust. Comput. 6, 1–11 (2017)
Smith, R.C., Cheeseman, P.: On the representation and estimation of spatial uncertainly. Int. J. Robot. Res. 5(4), 56–68 (1987)
Smith, R., Self, M., Cheeseman, P.: Estimating uncertain spatial relationships in robotics. Mach. Intell. Pattern Recognit. 1(5), 435–461 (1986)
Julier, S.J., Uhlmann, J.K.: Unscented filtering and nonlinear estimation. Proc. IEEE 92(3), 401–422 (2004)
Julier, S., Uhlmann, J., Durrant-Whyte, H.F.: A new method for the nonlinear transformation of means and covariances in filters and estimators. IEEE Trans. Autom. Control 45(3), 477–482 (2000)
Arasaratnam, I., Haykin, S.: Cubature Kalman filters. IEEE Trans. Autom. Control 54(6), 1254–1269 (2009)
Thrun, S., Fox, D., Burgard, W.: Robust Monte Carlo localization for mobile robots. Artif. Intell. 128(1), 99–141 (2001)
Montemerlo, M., Thrun, S., Whittaker, W.: Conditional particle filters for simultaneous mobile robot localization and people-tracking. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 695–701 (2002)
Wang, H., Li, J., Hou, Z.: Research on parallelized real-time map matching algorithm for massive GPS data. Clust. Comput. 2, 1–12 (2017)
Abid, M., Ishtiaq, M., Khan, F.A.: Computationally efficient generic adaptive filter (CEGAF)[J]. Clust. Comput. 3, 1–11 (2017)
Llorca, D.F., Quintero, R., Parra, I.: Recognizing individuals in groups in outdoor environments combining stereo vision. RFID and BLE. Clust. Comput. 20(1), 769–779 (2017)
Jia, Z., Chen, Z., Wang, D.: Time series analysis of carrier phase differences for dual-frequency GPS high-accuracy positioning. Clust. Comput. 19(3), 1461–1474 (2016)
Milford, M.J., Prasser, D.P., Wyeth, G.F.: Effect of representation size and visual ambiguity on RatSLAM system performance. In: Australasian Conference on Robotics and Automation. Australian Robotics and Automation Society (ARAA), pp. 1–8 (2006)
Milford, M., Schulz, R., Prasser, D.: Learning spatial concepts from RatSLAM representations. Robot. Auton. Syst. 55(5), 403–410 (2007)
Milford, M., Wyeth, G., Prasser, D.: RatSLAM on the edge: revealing a coherent representation from an overloaded rat brain. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, pp. 4060–4065 (2007)
Milford, M., Wyeth, G.: Persistent navigation and mapping using a biologically inspired SLAM system. Int. J. Robot. Res. 29(9), 1131–1153 (2010)
Milford, M.J., Schill, F., Corke, P, et al.: Aerial SLAM with a single camera using visual expectation. In: IEEE International Conference on Robotics & Automation, IEEE, pp. 2506–2512 (2011)
Zhang, X., Hu, X., Zhang, L.: An improved bionic navigation algorithm based on RatSLAM. Navig. Control 14(5), 73–80 (2015)
Glover, A.J., Maddern, W.P., Milford, M.J., et al. FAB-MAP + RatSLAM: appearance-based SLAM for multiple times of day. In: IEEE International Conference on Robotics and Automation, IEEE, pp. 3507–3512 (2010)
Berkvens, R., Vercauteren, C., Peremans, H.: Feasibility of geomagnetic localization and geomagnetic RatSLAM. Int. J. Adv. Syst. Meas. 7(1), 44–56 (2014)
Berkvens, R., Jacobson, A., Milford, M., et al.: Biologically inspired SLAM using Wi-Fi. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, pp. 1804–1811 (2014)
Berkvens, R., Weyn, M., Peremans, H.: Asynchronous, electromagnetic sensor fusion in RatSLAM. In: IEEE Sensors, pp. 1–4 (2015)
Labbe, M., Michaud, F.: Memory management for real-time appearance-based loop closure detection. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, pp. 1271–1276 (2011)
Labbe, M., Michaud, F.: Appearance-based loop closure detection for online large-scale and long-term operation. IEEE Transactions on Robotics 29(3), 734–745 (2013)
Acknowledgements
This work was supported by the Key Project of Natural Science by Education Department of Anhui Province (No. KJ2016A794).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Chen, M. Bionic SLAM based on MEMS pose measurement module and RTAB-Map closed loop detection algorithm. Cluster Comput 22 (Suppl 3), 5367–5378 (2019). https://doi.org/10.1007/s10586-017-1246-0
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10586-017-1246-0