Pose-graph SLAM sparsification using factor descent.
Joan VallvéJoan SolàJuan Andrade-CettoPublished in: Robotics Auton. Syst. (2019)
Keyphrases
- mobile robot
- graph representation
- pose estimation
- directed acyclic graph
- graph model
- connected components
- random walk
- simultaneous localization and mapping
- graph theory
- face recognition
- spanning tree
- weighted graph
- graph structure
- directed graph
- particle filter
- least squares
- d objects
- pose recovery
- mobile robotics
- loop closure
- edge weights
- graph theoretic
- graph partitioning
- bipartite graph
- structured data
- video sequences