Geometry-based Graph Pruning for Lifelong SLAM.
Gerhard KurzMatthias HolochPeter BiberPublished in: IROS (2021)
Keyphrases
- mobile robot
- random walk
- graph representation
- search space
- directed graph
- topological information
- pruning method
- graph model
- graph structure
- dynamic environments
- structured data
- weighted graph
- graph databases
- graph theory
- lifelong learning
- simultaneous localization and mapping
- geometric constraints
- indoor environments