An Innovative Combined Filter SLAM Algorithm for Mobile Robots in Large-Scale Environment
Jun Cai, Xiaolin Zhong, Yi Zhang · International Journal of Control and Automation · 2017
By combining the strength of the Rao-Blackwellized particle filter (RBPF) and extended information filter (EIF), this paper presents a novel Combined Filter SLAM algorithm which can be efficiently employed in large-scale scenarios.Local maps are effectively produced through RBPF-SLAM algorithm and then periodically fused into an EIF SLAM algorithm.A binary-tree based divide and conquer (D&C) strategy is also applied to further improve the computational efficiency in real time environment.Simulations and experiments using the Victoria Park dataset demonstrate the consistency and efficiency of our proposed Combined Filter SLAM algorithm in large-scale environment.