Home/6-DOF Multi-session Visual SLAM using Anchor Nodes

6-DOF Multi-session Visual SLAM using Anchor Nodes

John McDonald, Michael Kaess, Cesar Cadena, Jos Neira and John J. Leonard
Conference Paper, Proceedings of European Conference on Mobile Robots, ECMR, pp. 69-76, September, 2011

View Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


This paper describes a system for performing multi- session visual mapping in large-scale environments. Multi-session mapping considers the problem of combining the results of multiple Simultaneous Localisation and Mapping (SLAM) mis- sions performed repeatedly over time in the same environment. The goal is to robustly combine multiple maps in a common metrical coordinate system, with consistent estimates of uncer- tainty. Our work employs incremental Smoothing and Mapping (iSAM) as the underlying SLAM state estimator and uses an improved appearance-based method for detecting loop closures within single mapping sessions and across multiple sessions. To stitch together pose graph maps from multiple visual mapping sessions, we employ spatial separator variables, called anchor nodes, to link together multiple relative pose graphs. We provide experimental results for multi-session visual mapping in the MIT Stata Center, demonstrating key capabilities that will serve as a foundation for future work in large-scale persistent visual mapping.

author = {John McDonald and Michael Kaess and Cesar Cadena and Jos Neira and John J. Leonard},
title = {6-DOF Multi-session Visual SLAM using Anchor Nodes},
booktitle = {Proceedings of European Conference on Mobile Robots, ECMR},
year = {2011},
month = {September},
pages = {69-76},
} 2017-09-13T10:40:07-04:00