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Global optimization for 2D SLAM problem

Qayyum, Usman; Kim, Jonghyuk


A globally optimal approach is proposed in this work for map-joining SLAM problem. Traditionally local optimization based approaches are adapted for SLAM problem but due to highly non-convex nature of the SLAM problem, they are susceptible to local minima. In this work, we have exploited the theoretical limit on the number of local minima. The proposed approach is not dependent upon the good initial guess whereas existing approaches in SLAM literature requires a good starting point for...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: Lecture Notes in Electrical Engineering
DOI: 10.1007/978-3-319-03500-0_3


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