Nonlinear factor recovery for long-term SLAM

@article{Mazuran2016NonlinearFR,
  title={Nonlinear factor recovery for long-term SLAM},
  author={Mladen Mazuran and W. Burgard and Gian Diego Tipaldi},
  journal={The International Journal of Robotics Research},
  year={2016},
  volume={35},
  pages={50 - 72}
}
For long-term operations, graph-based simultaneous localization and mapping (SLAM) approaches require nodes to be marginalized in order to control the computational cost. In this paper, we present a method to recover a set of nonlinear factors that best represents the marginal distribution in terms of Kullback–Leibler divergence. The proposed method, which we call nonlinear factor recovery (NFR), estimates both the mean and the information matrix of the set of nonlinear factors, where the… Expand
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