Graph SLAM Sparsification With Populated Topologies Using Factor Descent Optimization
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DOI: 10.1109/lra.2018.2798283
Abstract: Current solutions to the simultaneous localization and mapping (SLAM) problem approach it as the optimization of a graph of geometric constraints. Scalability is achieved by reducing the size of the graph, usually in two phases.… read more here.
Keywords: factor descent; populated topologies; slam sparsification; optimization ... See more keywords