Delayed optimisation for robust and linear pose-graph SLAM
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]
|Collections||ANU Research Publications|
|Source:||Proceedings of Australasian Conference on Robotics and Automation|
|Access Rights:||Open Access|
|01_Kim_Delayed_optimisation_for_2014.pdf||795.62 kB||Adobe PDF|
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