Robust simultaneous localization and mapping via information matrix estimation

Abstract

One of the major challenges for current SLAM systems is the impact of outliers and incorrectly modeled measurement noise on the final mapping solution. Outliers, such as incorrect loop closure detections, can cause standard least-squares based SLAM algorithms to fail catastrophically. This paper presents and evaluates a robust SLAM algorithm that addresses… (More)

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Cite this paper

@article{Graham2014RobustSL, title={Robust simultaneous localization and mapping via information matrix estimation}, author={Matthew C. Graham and Jonathan P. How}, journal={2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014}, year={2014}, pages={937-944} }