Spectral Measurement Sparsification for Pose-Graph SLAM.
Kevin J. DohertyDavid M. RosenJohn J. LeonardPublished in: IROS (2022)
Keyphrases
- mobile robot
- spectral decomposition
- graph representation
- d objects
- pose estimation
- normalized cut
- random walk
- position and orientation
- bipartite graph
- graph structure
- weighted graph
- laplacian matrix
- spectral methods
- dynamic environments
- graph theory
- visual slam
- directed graph
- spectral analysis
- simultaneous localization and mapping
- least squares
- pose recovery
- adjacency matrix
- hyperspectral images
- particle filter
- graph model
- indoor environments
- graph mining
- directed acyclic graph