Generic factor-based node marginalization and edge sparsification for pose-graph SLAM

Abstract

This paper reports on a factor-based method for node marginalization in simultaneous localization and mapping (SLAM) pose-graphs. Node marginalization in a pose-graph induces fill-in and leads to computational challenges in performing inference. The proposed method is able to produce a new set of constraints over the elimination clique that can represent… (More)
DOI: 10.1109/ICRA.2013.6631403

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