Multi-level submap based SLAM using nested dissection

@article{Ni2010MultilevelSB,
  title={Multi-level submap based SLAM using nested dissection},
  author={Kai Ni and Frank Dellaert},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={2558-2565}
}
We propose a novel batch algorithm for SLAM problems that distributes the workload in a hierarchical way. We show that the original SLAM graph can be recursively partitioned into multiple-level submaps using the nested dissection algorithm, which leads to the cluster tree, a powerful graph representation. By employing the nested dissection algorithm, our algorithm greatly minimizes the dependencies between two subtrees, and the optimization of the original SLAM graph can be done using a bottom… CONTINUE READING
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