CI-Graph simultaneous localization and mapping for three-dimensional reconstruction of large and complex environments using a multicamera system

@article{Pinies2010CIGraphSL,
  title={CI-Graph simultaneous localization and mapping for three-dimensional reconstruction of large and complex environments using a multicamera system},
  author={Pedro Pinies and Lina Mar{\'i}a Paz and Dorian G{\'a}lvez-L{\'o}pez and Juan D. Tard{\'o}s},
  journal={J. Field Robotics},
  year={2010},
  volume={27},
  pages={561-586}
}
Submapping and graphical methods have been shown to be valuable approaches to simultaneous localization and mapping (SLAM), providing significant advantages over the classical extended Kalman filter (EKF) solution: they are faster and, when using local coordinates, produce more consistent estimates. The main contribution of this paper is CI-Graph SLAM, a novel algorithm that is able to efficiently map large environments by building a graph of submaps and a spanning tree of this graph with the… CONTINUE READING
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