Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation

Abstract

This manuscript addresses the problem of optimizationbased Simultaneous Localization and Mapping (SLAM), which is of concern when a robot, traveling in an unknown environment, has to build a world model, exploiting sensor measurements. Although the optimization problem underlying SLAM is nonlinear and nonconvex, related work showed that it is possible to… (More)
DOI: 10.1007/978-3-642-34327-8_25

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