Large scale graph-based SLAM using aerial images as prior information

@article{Kmmerle2011LargeSG,
  title={Large scale graph-based SLAM using aerial images as prior information},
  author={Rainer K{\"u}mmerle and Bastian Steder and Christian Dornhege and Alexander Kleiner and Giorgio Grisetti and Wolfram Burgard},
  journal={Auton. Robots},
  year={2011},
  volume={30},
  pages={25-39}
}
To effectively navigate in their environments and accurately reach their target locations, mobile robots require a globally consistent map of the environment. The problem of learning a map with a mobile robot has been intensively studied in the past and is usually referred to as the simultaneous localization and mapping (SLAM) problem. However, existing solutions to the SLAM problem typically rely on loop-closures to obtain global consistency and do not exploit prior information even if it is… CONTINUE READING

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