Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach.
Kasra KhosoussiGaurav S. SukhatmeShoudong HuangGamini DissanayakePublished in: CoRR (2016)
Keyphrases
- graph structure
- graph theory
- pose estimation
- mobile robot
- gaussian graphical models
- random walk
- graph model
- graph representation
- structured data
- graph matching
- spanning tree
- high dimensional
- bipartite graph
- d objects
- position and orientation
- data association
- sparse data
- mobile robotics
- pose recovery
- indoor environments
- directed acyclic