iSAM: Incremental Smoothing and Mapping

Abstract

In this paper, we present incremental smoothing and mapping (iSAM), which is a novel approach to the simultaneous localization and mapping problem that is based on fast incremental matrix factorization. iSAM provides an efficient and exact solution by updating a QR factorization of the naturally sparse smoothing information matrix, thereby recalculating… (More)
DOI: 10.1109/TRO.2008.2006706

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