Scalable SLAM building conditionally independent local maps

Abstract

Local maps algorithms have demonstrated to be well suited for mapping large environments as can reduce the computational cost and improve the consistency of the final estimation. In this paper we present a new technique that allows the use of local mapping algorithms in the context of EKF SLAM but without the constrain of probabilistic independence between… (More)
DOI: 10.1109/IROS.2007.4399302

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