Generic factor-based node marginalization and edge sparsification for pose-graph SLAM.
Nicholas Carlevaris-BiancoRyan M. EusticePublished in: ICRA (2013)
Keyphrases
- undirected graph
- edge weights
- weighted graph
- graph structure
- directed graph
- disjoint paths
- pose estimation
- strongly connected
- bipartite graph
- densely connected
- directed acyclic graph
- graph representation
- connected components
- root node
- random walk
- edge detection
- mobile robot
- vertex set
- d objects
- spanning tree
- overlapping communities
- betweenness centrality
- finding the shortest path
- message passing
- edge detector
- shortest path
- path length
- complex networks
- multiscale
- edge information
- least squares
- loop closure
- image sequences
- real time