A Two-step Nonlinear Factor Sparsification for Scalable Long-term SLAM Backend.

Binqian Jiang Shaojie Shen

Published in: ICRA (2024)

Keyphrases

back end
long term
short term
user friendly
data management
mobile robot
building blocks
steady state error
data types
least squares
database
indoor environments
data repositories
simultaneous localization and mapping
version control
visual slam
dynamic environments
e government
preprocessing
real world