Exactly Sparse Delayed-State Filters for View-Based SLAM

@article{Eustice2006ExactlySD,
  title={Exactly Sparse Delayed-State Filters for View-Based SLAM},
  author={R. Eustice and Hanumant Singh and J. Leonard},
  journal={IEEE Transactions on Robotics},
  year={2006},
  volume={22},
  pages={1100-1114}
}
This paper reports the novel insight that the simultaneous localization and mapping (SLAM) information matrix is exactly sparse in a delayed-state framework. Such a framework is used in view-based representations of the environment that rely upon scan-matching raw sensor data to obtain virtual observations of robot motion with respect to a place it has previously been. The exact sparseness of the delayed-state information matrix is in contrast to other recent feature-based SLAM information… Expand
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