Delayed optimisation for robust and linear pose-graph SLAM
Kim, Jonghyuk; Cheng, Jiantong
Description
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 |
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Date published: | 2014 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/154086 |
Source: | Proceedings of Australasian Conference on Robotics and Automation |
Access Rights: | Open Access |
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File | Description | Size | Format | Image |
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01_Kim_Delayed_optimisation_for_2014.pdf | 795.62 kB | Adobe PDF |
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