Simultaneous Localization and Mapping: Through the Lens of Nonlinear Optimization.
Amay SaxenaChih-Yuan ChiuRitika ShrivastavaJoseph MenkeShankar SastryPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- nonlinear optimization
- simultaneous localization and mapping
- mobile robot
- kalman filter
- optimization method
- starting points
- particle filter
- dynamic environments
- mobile robotics
- indoor environments
- data association
- robot navigation
- bundle adjustment
- global search
- closed form solutions
- initial solution
- genetic algorithm
- real time
- real environment
- differential evolution
- object tracking
- computational complexity
- three dimensional