Feature SLAM & Map Management

Feature-based SLAM with online map switching and AdaBoost loop closure for ultra-large dynamic environments.

Problem

Ultra-large warehouses and manufacturing sites exceed the memory and compute budget of resource-constrained edge computers when loading monolithic maps. Dynamic environments further degrade loop closure reliability.

Approach

I led the mapping team toward a production feature-based SLAM product with two key contributions:

Online map switching

  • Divides large environments into small map chunks
  • Loads chunks on demand based on navigation requirements
  • Avoids loading entire facility maps on resource-constrained host computers

Robust loop closure detection

  • AdaBoost classifier-based loop closure model robust to environmental changes
  • Integrated with range-based and feature-based SLAM implementations
  • First major project at Novus Hi-Tech (NHRSL)

Results

  • Enabled SLAM-based navigation in ultra-large industrial facilities
  • Map switching critical for scalable deployment across multi-site customers
  • Loop closure robustness improved under environmental change and dynamism

Technologies

ROS 2 · Feature-based SLAM · Loop closure · Map management · AdaBoost · Edge computing