Robust pose-graph loop-closures with expectation-maximization

@article{Lee2013RobustPL,
  title={Robust pose-graph loop-closures with expectation-maximization},
  author={Gim Hee Lee and Friedrich Fraundorfer and Marc Pollefeys},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={556-563}
}
In this paper, we model the robust loop-closure pose-graph SLAM problem as a Bayesian network and show that it can be solved with the Classification Expectation-Maximization (EM) algorithm. In particular, we express our robust pose-graph SLAM as a Bayesian network where the robot poses and constraints are latent and observed variables. An additional set of latent variables is introduced as weights for the loop-constraints. We show that the weights can be chosen as the Cauchy function, which are… CONTINUE READING

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