Chapter 1

Analysis and Results

1.1

Experimental Data

Two real-world data sets where a B21 mobile robot equipped with a laser range scanner was driven around the environment for several passes (see Figure XX).

Reading Room Data Set In this data set the robot makes a total of 20 passes throughout a room that is approximately 10.5m x 7.5m (see Figure XXX). The environment consists of two slow-dynamic objects, boxes. To simulate change, one or both of the boxes are moved, added, or removed after each pass. Thus, in this data set the changes from the boxes are known. It is also worth mentioning that there are two parts of the environment that may have some measurements that appear out of the boundary of the environment. In these areas a window and open space were covered by hand made walls. 1

Figure 1-1: [TODO:x gure]Data used in the four passes experiments. Pose graph slam has been applied and the individual maps from each pass are shown. A total of two slow dynamic objects are in this environment.

University of Tubingen Data Set This is the data set used by Biber and Duckett [ref]. A B21 mobile robot equipped with a laser range nder was driven around an indoor environment for about 5 weeks and a few times a day. The environment is approximately 50m x 40m and is L-shaped (see Figure XXX). Below is an example of a map from one pass, where pose graph SLAM is applied. 2

Figure 1-2: XXXThe active map generated from DPG-SLAM.

1.2

Overview

We begin our analysis by presenting the resulting maps from applying pose graph slam (PG-SLAM), dynamic pose graph slam (DPG-SLAM) without node removal, and DPGSLAM with node removal. To test the quality of the active map the number of sectors per node is varied in each of the DPG-SLAM experiments. In addition, DPG-SLAM is applied to a short-term set of data and a long-term set of data for both the Reading Room and Univ. of Tubingen data sets. By using a short-term, minimal number of passes, data set we are able to identify and discuss qualitative results about the performance of the algorithms. In addition, a quantitative analysis of DPG-SLAM with varying number of sectors is 3

discussed. The number of sectors effects the overall map quality in three main ways. First, the sectors of a node that are turned on contain the laser points that are included in the active map. Second, a node with fewer sectors has the potential to become an inactive node much sooner than a node with several sectors. For example, if a change is detected at a node with one sector, then the entire sector is turned off and the node becomes inactive. Recall that inactive nodes are potential candidate for removal as well. The third way that the number of sectors affects the active map is that change detection is performed on the laser ranges in sectors that are on. We analyze the performance within an experiment and across experiments. Below is a summary of the graphs to illustrate the general data collected across experiments with varying number of sectors. Total Nodes Per Iteration Shows the number of nodes that remain in the Dynamic Pose Graph. Total Edges Per Iteration Shows how the number of edges are reduced based on the number of sectors. Total Change Nodes Per Iteration Shows the total number of nodes labeled change nodes, over time. A sudden increase in the number of change nodes indicates that a large change was detected. Total Inactive Node Per Iteration Show how many inactive nodes are in the Dynamic Pose Graph. Total Removed Edges Per Iteration The number of nodes that are removed directly affects the computational cost of pose graph optimization. Total Removed Nodes Per Iteration Illustrates how sensitive node removal is as a function of the environment changes. Also, note that removal of one node may result in the removal of one or more edges (constraints). Additionally, we analyse the efcacy of DPG-DLAM with two performance measures described below. Static Histogram The aim of this measure is to show how well the static information is maintained in the active map. For example, walls which are static should have a high density as they are consistently measured during each pass. To create the static histogram there are two items to consider. The rst is to ensure that multiple measurement of the same object during a pass are excluded. The second is to layer all the occupied from an occupancy grid computer for the map after each pass. (post dpg-slam) [TODO: also the ghosting from not detecting change all the time, just at 20%] Accuracy Cost This is applied to the reading room data set where the ground truth of part of the data set is known.randomly pick a subset of points from the active map that are not in the interior where moving objects are [TODO: describe the gures, describe that it can be inaccurate if the computed transformation is wrong] 4

8 7 6 5 4 3 2 1 0 1 2

10

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(a)

8 7 6 5 4 3 2 1

We rst present our results for the Reading Room data set. In this data set we have approximate ground truth and know the slow-dynamic objects. Results are shown for the short-term and long-term versions of this data set. The short-term data set is four passes and the long-term data set is twenty passes. Following the Reading Room analysis and results, we present our results for the Univ. of Tubingen data set. Recall that in this data set there is no notion of ground truth nor do we know where all the changes occur. After we present our results we compare and contrast our method with Biber and Ducketts method on the same data set. Images of the active and dynamic maps from four passes of the Reading Room and Univ. of Tubingen environments are shown below.

1.3

Reading Room, Four Passes

Applying Pose graph SLAM

Figure 1-4: The map generated by applying pose graph slam to the reading room data set with four passes. 6

1.3.1

Applying Dynamic Pose Graph SLAM, No Node/Edge Removal (DPGSLAM-NR)

Figure 1-5: The active map generated from DPG-SLAM with no node/edge removed. 7

Sectors 1 3 6 9 12

Table 1.1: should be a senteneXXX Nodes Edges Change Nodes Inactive Nodes 495 495 495 495 495 612 612 612 612 612 349 222 211 212 214 369 250 54 15 3

Total Nodes Per Iteration (without node/edge removal) 500 450 400 350 300 Nodes 250 200 150 100 100 50 0 0 100 200 Iteration # 300 400 500 0 0 Edges 1sector 3sectors 6sectors 9sectors 12sectors Pass 700

Total Edges Per Iteration (without node/edge removal) 1sector 3sectors 6sectors 9sectors 12sectors Pass

600

500

400

300

200

100

200 Iteration #

300

400

500

(a)
Total Inactive Nodes Per Iteration (without node/edge removal) 500 450 400 350 Inactive Nodes 300 250 200 150 100 50 0 0 100 200 Iteration # 300 400 500 1sector 3sectors 6sectors 9sectors 12sectors Pass Change Nodes 500 450 400 350 300 250 200 150 100 50 0 0 100 200 1sector 3sectors 6sectors 9sectors 12sectors Pass

(b)
Total Change Nodes Per Iteration (without node/edge removal)

300 Iteration #

400

500

(c)

(d)

Figure 1-6: XXX path. ?? is a changing environment comprised of static and semi-static objects. ?? Simulated noisy data of a robot driving around the environment in ??, creating separate maps. 8

Figure 1-7: XXX

Table 1.2: Table caption (DPG-SLAM-NR applied). Sectors Pass 1 Passes 1,2 Passes 1,2,3 Passes 1,2,3,4 1 3 6 9 12 0.045m 0.048m 0.053m 0.0540 0.055m 0.106m 0.038m 0.100m 0.0437 0.0446m 9 0.106m 0.098m 0.113m 0.1031 0.110m 0.107m 0.038m 0.033m 0.0896 0.032m

1.3.2

Applying Dynamic Pose Graph SLAM with Nodes Removed, DPG-SLAM

Figure 1-8: XXX 10

Sectors 1 3 6 9 12

Nodes 450 307 448 465 492

Edges 547 382 549 573 605

Table 1.3: should be a senteneXXX Change Nodes Inactive Nodes Removed Nodes 357 261 208 207 214 365 227 36 15 3 45 188 47 30 3

Removed Edges 78 284 85 52 9

11

Total Nodes Per Iteration (DPGSLAM) 500 450 400 350 300 Nodes 250 200 150 100 100 50 0 0 100 200 Iteration # 300 400 500 0 0 100 Edges 1sector 3sectors 6sectors 9sectors 12sectors Pass 700

Total Edges Per Iteration (DPGSLAM) 1sector 3sectors 6sectors 9sectors 12sectors Pass

600

500

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200 Iteration #

300

400

500

(a)
Total Inactive Nodes Per Iteration (DPGSLAM) 500 450 400 350 Inactive Nodes 300 250 200 150 100 50 0 0 100 200 Iteration # 300 400 500 1sector 3sectors 6sectors 9sectors 12sectors Pass Change Nodes 500 450 400 350 300 250 200 150 100 50 0 0 100 1sector 3sectors 6sectors 9sectors 12sectors Pass

(b)
Total Change Nodes Per Iteration (DPGSLAM)

200 Iteration #

300

400

500

(c)
Total Removed Nodes Per Iteration (DPGSLAM) 500 450 400 350 Removed Nodes 300 250 200 150 100 50 0 0 100 200 Iteration # 300 400 500 1sector 3sectors 6sectors 9sectors 12sectors Pass Removed Edges 500 450 400 350 300 250 200 150 100 50 0 0 100 1sector 3sectors 6sectors 9sectors 12sectors Pass

(d)
Total Removed Edges Per Iteration (DPGSLAM)

200 Iteration #

300

400

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(e)

(f)

Figure 1-9: Add caption.

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Figure 1-10: Add caption.

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Table 1.4: Average sum of distance in meters for selected active map points projected onto the ground truth. The data is shown for the active map after increasing number of passes (DPG-SLAM applied). Sectors Pass 1 Passes 1,2 Passes 1,2,3 Passes 1,2,3,4 1 3 6 9 12 0.047m 0.046m 0.049m 0.047m 0.049m 0.103m 0.034m 0.040m 0.041m 0.102m 0.109m 0.113m 0.040m 0.102m 0.110m 0.102m 0.092m 0.0308m 0.105m 0.093m

1.3.3

Example Comparison

[In this section we select an example experiment to compare and contrast the results of applying both the DPG-SLAM-NR and DPG-SLAM on a data set. Specically we discuss the 9sectors experiment.]

1.4

Reading Room, Twenty Passes

1014m distance travelled, 2468total nodes, 3158total edges

Figure 1-11: XXXX. 14

1.4.1

Applying Dynamic Pose Graph SLAM, No Node Removal

Figure 1-12: The active map generated from DPG-SLAM with no node/edge removed. 15

Table 1.5: Summary of the totals -should be a senteneXXX Sectors Nodes Edges Change Nodes Inactive Nodes 1 3 6 9 12 2,468 2,468 2,468 2,468 24,68 3,158 3,158 3,158 3,158 3,158 2,306 1,693 1,418 1,373 1,356 2,211 1,941 1,137 460 209

16

Total Nodes Per Iteration (DPGSLAMNR) 2500 1sector 3sectors 6sectors 9sectors 12sectors Pass

2000

1500 Nodes 1000 500 0

500

1000 1500 Iteration #

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Total Edges Per Iteration (DPGSLAMNR) 3500 1sector 3sectors 6sectors 9sectors 12sectors Pass

3000

2500

Edges

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500

1000 1500 Iteration #

2000

2500

(b)
Total Inactive Nodes Per Iteration (DPGSLAMNR) 2500 1sector 3sectors 6sectors 9sectors 12sectors Pass Change Nodes 500 450 400 350 300 250 200 150 500 100 50 0 0 500 1000 1500 Iteration # 2000 2500 0 0 100 200 Iteration # 300 400 500 1sector 3sectors 6sectors 9sectors 12sectors Pass Total Change Nodes Per Iteration (without node/edge removal)

2000

Inactive Nodes

1500

1000

(c)

(d)

Figure 1-13: Add caption.

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Figure 1-14: XXX

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1.4.2

Applying Dynamic Pose Graph SLAM, Remove Nodes/Edges (DPG-SLAM)

Figure 1-15: The active map generated from DPG-SLAM with no node/edge removed. 19

Sectors 1 3 6 9 12

Nodes 2,086 1,452 1,422 1,920 2,087

Edges 2,681 2,239 1,422 2,304 2,599

Table 1.6: should be a senteneXXX Change Nodes Inactive Nodes Removed Nodes 2,259 1,736 1,378 1,374 1,359 2,287 1,772 814 325 169 382 1,016 1,046 548 381

Removed Edges 574 1,016 1,833 951 656

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Total Nodes Per Iteration (DPGSLAM) 2500 1sector 3sectors 6sectors 9sectors 12sectors Pass

2000

1500 Nodes 1000 500 0

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1000 1500 Iteration #

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Total Edges Per Iteration (DPGSLAM) 3000 1sector 3sectors 6sectors 9sectors 12sectors Pass

2500

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(b)
Total Inactive Nodes Per Iteration (DPGSLAM) 2500 1sector 3sectors 6sectors 9sectors 12sectors Pass

2000

Inactive Nodes

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(c)
Total Change Nodes Per Iteration (DPGSLAM) 2500 1sector 3sectors 6sectors 9sectors 12sectors Pass

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Change Nodes

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500

Figure 1-17: Add caption.

1.5

University of Tubingen, Four Passes

[TODO: Describe the ideal solution noting the hand labeled change areas] 620meters travelled, 833 total nodes and 1010 added edges. note of course some are remived by DPGSLAM. Applying Pose Graph SLAM [TODO: Image:PG-SLAM 2D, PG-SLAM 3D,mention little change, so good overlap for scan matching] 22

Figure 1-18: Add caption.

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1.5.1

Applying Dynamic Pose Graph SLAM, DPG-SLAM-NR

Figure 1-19: XXX 24

Table 1.7: Im a caption about Univ of Tubingen 4passes DPG-SLAM-NR Sectors Nodes Edges Change Nodes Inactive Nodes 1 4 8 12 833 833 833 833 1,010 1,010 1,010 1,010 494 378 363 357 698 387 134 54

Total Nodes Per Iteration (DPGSLAMNR) 900 800 700 600 Nodes Edges 500 400 300 200 200 100 0 0 1sector 4sectors 8sectors 12sectors Pass 1200

Total Edges Per Iteration (DPGSLAMNR) 1sector 4sectors 8sectors 12sectors Pass

1000

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(a)
Total Inactive Nodes Per Iteration (DPGSLAMNR) 700 1sector 4sectors 8sectors 12sectors Pass 500 450 400 350 Change Nodes 300 250 200 150 100 100 50 0 0 100 200 300 400 500 Iteration # 600 700 800 900 0 0 100 200 300 1sector 4sectors 8sectors 12sectors Pass

(b)
Total Change Nodes Per Iteration (DPGSLAMNR)

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(c)

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Figure 1-20: Add caption. 25

Figure 1-21: Add caption.

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1.5.2

Applying Dynamic Pose Graph SLAM, Remove Nodes/Edges (DPG-SLAM)

Figure 1-22: Add caption. 27

Sectors 1 4 8 12

Table 1.8: I am a table for Univ Tub 4 passes DPG-SLAM Nodes Edges Change Nodes Inactive Nodes Removed Nodes 785 496 712 765 960 853 855 916 489 370 356 360 696 390 136 60 48 337 121 68

Removed Edges 72 217 190 106

28

Total Nodes Per Iteration (DPGSLAM) 800 700 600 500 Nodes 400 300 200 200 100 0 100 0 100 200 300 400 500 Iteration # 600 700 800 900 0 0 100 Edges 1sector 4sectors 8sectors 12sectors Pass 1000 900 800 700 600 500 400 300

Total Edges Per Iteration (DPGSLAM) 1sector 4sectors 8sectors 12sectors Pass

200

300

400 500 Iteration #

600

700

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900

(a)
Total Inactive Nodes Per Iteration (DPGSLAM) 700 1sector 4sectors 8sectors 12sectors Pass 500 450 400 350 Change Nodes 300 250 200 150 100 100 50 0 0 100 200 300 400 500 Iteration # 600 700 800 900 0 0 100 200 300 1sector 4sectors 8sectors 12sectors Pass

(b)
Total Change Nodes Per Iteration (DPGSLAM)

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Total Removed Nodes Per Iteration (DPGSLAM) 500 450 400 350 Removed Nodes 300 250 200 150 100 50 0 0 100 200 300 400 500 Iteration # 600 700 800 900 Removed Edges 1sector 4sectors 8sectors 12sectors Pass 500 450 400 350 300 250 200 150 100 50 0 0 100 200 300 1sector 4sectors 8sectors 12sectors Pass

(d)
Total Removed Edges Per Iteration (DPGSLAM)

400 500 Iteration #

600

700

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(e)

(f)

Figure 1-23: XXX path. ?? is a changing environment comprised of static and semi-static objects. ?? Simulated noisy data of a robot driving around the environment in ??, creating separate maps.

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Figure 1-24: XXX

1.6

University of Tubingen

7,373m traveled, total nodes 8,392, total constraints 11,350 30

Figure 1-25: XXX

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1.6.1

Applying Dynamic Pose Graph SLAM, DPG-SLAM-NR, Sixty Passes

Figure 1-26: XXX 32

Table 1.9: I am a table for Univ Tub 4 passes DPG-SLAM Sectors Nodes Edges Change Nodes Inactive Nodes 1 4 8 12 8,392 8,392 8,392 8,392 11,350 11,350 11,350 11,350 7,736 5,019 4,577 4,523 8,020 6,604 4,513 3,018

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Total Nodes Per Iteration (DPGSLAMNR) 12000 1sector 4sectors 8sectors 12sectors Pass

10000

8000 Nodes

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7000

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9000

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Total Edges Per Iteration (DPGSLAMNR) 12000 1sector 4sectors 8sectors 12sectors Pass

10000

8000 Edges

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4000 5000 Iteration #

6000

7000

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9000

(b)
Total Inactive Nodes Per Iteration (DPGSLAMNR) 12000 1sector 4sectors 8sectors 12sectors Pass

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8000 Inactive Nodes

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4000 5000 Iteration #

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Total Change Nodes Per Iteration (DPGSLAMNR) 12000 1sector 4sectors 8sectors 12sectors Pass

10000

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2000

Figure 1-28: XXX

35