Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization.
Kenji KoideShuji OishiMasashi YokozukaAtsuhiko BannoPublished in: CoRR (2024)
Keyphrases
- sliding window
- tightly coupled
- factor graphs
- maximum a posteriori
- data streams
- fine grained
- general purpose
- fixed size
- loosely coupled
- window size
- markov random field
- message passing
- belief propagation
- graphical models
- stream data
- latent variables
- graph cuts
- prior knowledge
- bayesian framework
- energy function
- non stationary