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arXiv · 2011.00594

Random Fourier Features based SLAM

Yermek Kapushev·Anastasia Kishkun·Gonzalo Ferrer·Evgeny Burnaev
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Abstract

This work is dedicated to simultaneous continuous-time trajectory estimation and mapping based on Gaussian Processes (GP). State-of-the-art GP-based models for Simultaneous Localization and Mapping (SLAM) are computationally efficient but can only be used with a restricted class of kernel functions. This paper provides the algorithm based on GP with Random Fourier Features (RFF) approximation for SLAM without any constraints. The advantages of RFF for continuous-time SLAM are that we can consider a broader class of kernels and, at the same time, maintain computational complexity at reasonably low level by operating in the Fourier space of features. The accuracy-speed trade-off can be controlled by the number of features. Our experimental results on synthetic and real-world benchmarks demonstrate the cases in which our approach provides better results compared to the current state-of-the-art.

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Yermek Kapushev, Anastasia Kishkun, Gonzalo Ferrer, Evgeny Burnaev. 2020-11-01. Random Fourier Features based SLAM. https://arxiv.org/abs/2011.00594

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