Information-theoretic compression of pose graphs for laser-based SLAM.
Henrik KretzschmarCyrill StachnissPublished in: Int. J. Robotics Res. (2012)
Keyphrases
- information theoretic
- mutual information
- information theory
- theoretic framework
- information bottleneck
- pose estimation
- information theoretic measures
- multi modality
- jensen shannon divergence
- mobile robot
- entropy measure
- weighted graph
- d objects
- log likelihood
- simultaneous localization and mapping
- graph matching
- kl divergence
- min cut
- position and orientation
- kullback leibler divergence
- computer vision
- image registration
- image analysis