Robust Incremental SLAM Under Constrained Optimization Formulation
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DOI: 10.1109/lra.2018.2794610
Abstract: In this letter, we propose a constrained optimization formulation and a robust incremental framework for the simultaneous localization and mapping problem (SLAM). The new SLAM formulation is derived from the nonlinear least squares (NLS) formulation… read more here.
Keywords: optimization formulation; formulation; incremental slam; constraint ... See more keywords