Overlap Displacement Error: Are Your SLAM Poses Map-Consistent?

Christian Mostegel Jianbo Ye Yu Luo Yang Liu

Published in: IROS (2021)

Keyphrases

loop closing
mobile robot
map building
error rate
maximum a posteriori
simultaneous localization and mapping
error bounds
topological map
optical flow
error analysis
globally optimal
monocular slam
data sets
indoor environments