Closing the Loop With Graphical SLAM

@article{Folkesson2007ClosingTL,
  title={Closing the Loop With Graphical SLAM},
  author={John Folkesson and Henrik I. Christensen},
  journal={IEEE Transactions on Robotics},
  year={2007},
  volume={23},
  pages={731-741}
}
The problem of simultaneous localization and mapping (SLAM) is addressed using a graphical method. The main contributions are a computational complexity that scales well with the size of the environment, the elimination of most of the linearization inaccuracies, and a more flexible and robust data association. We also present a detection criteria for closing loops. We show how multiple topological constraints can be imposed on the graphical solution by a process of coarse fitting followed by… CONTINUE READING
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