June 27-30 , 2007 1 Data Association in O ( n ) for Divide and Conquer SLAM

@inproceedings{PazJune2,
  title={June 27-30 , 2007 1 Data Association in O ( n ) for Divide and Conquer SLAM},
  author={Lina Mar{\'i}a Paz and Jos{\'e} Neira}
}
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… CONTINUE READING