Data Association in O(n) for Divide and Conquer SLAM

@inproceedings{Paz2007DataAI,
  title={Data Association in O(n) for Divide and Conquer SLAM},
  author={Lina Mar{\'i}a Paz and Jos{\'e} E. Guivant and Juan D. Tard{\'o}s and Jos{\'e} Neira},
  booktitle={Robotics: Science and Systems},
  year={2007}
}
In this paper we show that all processes associated to the move-sense-update cycle of EKF SLAM can be carried out in time linear in the number of map features. We describe Divide and Conquer SLAM, an EKF SLAM algorithm where the computational complexity per step is reduced fromO(n) to O(n) (the total cost of SLAM is reduced from O(n) to O(n)). In addition, the resulting vehicle and map estimates have be tter consistency properties than standard EKF SLAM in the sense that the computed state… CONTINUE READING
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