An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision

摘要

In the SLAM application, omnidirectional vision extracts wide scale information and more features from environments. Traditional algorithms bring enormous computational complexity to omnidirectional vision SLAM. An improved extended information filter SLAM algorithm based on omnidirectional vision is presented in this paper. Based on the analysis of structure a characteristics of the information matrix, this algorithm improves computational efficiency. Considering the characteristics of omnidirectional images, an improved sparsification rule is also proposed. The sparse observation information has been utilized and the strongest global correlation has been maintained. So the accuracy of the estimated result is ensured by using proper sparsification of the information matrix. Then, through the error analysis, the error caused by sparsification can be eliminated by a relocation method. The results of experiments show that this method makes full use of the characteristic of repeated observations for landmarks in omnidirectional vision and maintains great efficiency and high reliability in mapping and localization.