Incremental abstraction in distributed probabilistic SLAM graphs

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Title: Incremental abstraction in distributed probabilistic SLAM graphs
Authors: Ortiz, J
Evans, T
Sucar, E
Davison, AJ
Item Type: Conference Paper
Abstract: Scene graphs represent the key components of a scene in a compact and semantically rich way, but are difficult to build during incremental SLAM operation because of the challenges of robustly identifying abstract scene elements and optimising continually changing, complex graphs. We present a distributed, graph-based SLAM framework for incrementally building scene graphs based on two novel components. First, we propose an incremental abstraction framework in which a neural network proposes abstract scene elements that are incorporated into the factor graph of a feature-based monocular SLAM system. Scene elements are confirmed or rejected through optimisation and incrementally replace the points yielding a more dense, semantic and compact representation. Second, enabled by our novel routing procedure, we use Gaussian Belief Propagation (GBP) for distributed inference on a graph processor. The time per iteration of GBP is structure-agnostic and we demonstrate the speed advantages over direct methods for inference of heterogeneous factor graphs. We run our system on real indoor datasets using planar abstractions and recover the major planes with significant compression.
Issue Date: 12-Jul-2022
Date of Acceptance: 1-Jul-2022
DOI: 10.1109/icra46639.2022.9812078
Publisher: IEEE
Journal / Book Title: 2022 International Conference on Robotics and Automation (ICRA)
Copyright Statement: © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: 2022 IEEE International Conference on Robotics and Automation (ICRA)
Publication Status: Published
Start Date: 2022-05-23
Finish Date: 2022-05-27
Open Access location:
Appears in Collections:Computing