Simultaneous Localization and Mapping: Through the Lens of Nonlinear Optimization.
Amay SaxenaChih-Yuan ChiuJoseph MenkeRitika ShrivastavaShankar SastryPublished in: CoRR (2021)
Keyphrases
- nonlinear optimization
- simultaneous localization and mapping
- mobile robot
- dynamic environments
- kalman filter
- particle filter
- optimization method
- mobile robotics
- starting points
- indoor environments
- data association
- global search
- robot navigation
- bundle adjustment
- real environment
- initial solution
- closed form solutions
- path planning
- genetic algorithm
- simulated annealing
- image sequences
- neural network
- search algorithm
- structure from motion
- single image
- high dimensional