Cheng, Jiantong; Jiang, Zhenyu; Zhang, Yinhui; Kim, Jonghyuk
This paper presents a robust solution to the linear pose-graph SLAM problem based on local submap joining. This algorithm aims to converge toward correct solutions by detecting and eliminating the passive impacts from the failed loop closures. In the linear SLAM problem, the information matrix of each submap becomes non-diagonal due to nonlinear coordinate transformations. It is naive to make a least square operation between two constraints, when there isn't enough information to make a...[Show more]
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