H-SLAM: Rao-Blackwellized Particle Filter SLAM Using Hilbert Maps

Abstract

Occupancy Grid maps provide a probabilistic representation of space which is important for a variety of robotic applications like path planning and autonomous manipulation. In this paper, a SLAM (Simultaneous Localization and Mapping) framework capable of obtaining this representation online is presented. The H-SLAM (Hilbert Maps SLAM) is based on Hilbert Map representation and uses a Particle Filter to represent the robot state. Hilbert Maps offer a continuous probabilistic representation with a small memory footprint. We present a series of experimental results carried both in simulation and with real AUVs (Autonomous Underwater Vehicles). These results demonstrate that our approach is able to represent the environment more consistently while capable of running online.

Keywords

• AUV (Autonomous Underwater Vehicle)
• SLAM (Simultaneous Localization and Mapping)
• PF (Particle Filter)
• 2D