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Delayed optimisation for robust and linear pose-graph SLAM

Kim, Jonghyuk; Cheng, Jiantong


This paper addresses a robust and efficient solution to eliminate false loop-closures in a posegraph linear SLAM problem. Linear SLAM was recently demonstrated based on submap joining techniques in which a nonlinear coordinate transformation was performed separately out of the optimisation loop, resulting in a convex optimisation problem. This however introduces added complexity in dealing with any false loop-closures, which mostly stems from two factors: a) the limited local observations in...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: Proceedings of Australasian Conference on Robotics and Automation
Access Rights: Open Access


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