Generalized graph SLAM: Solving local and global ambiguities through multimodal and hyperedge constraints.
Max PfingsthornAndreas BirkPublished in: Int. J. Robotics Res. (2016)
Keyphrases
- global consistency
- constrained problems
- linear programming problems
- graph model
- graph theory
- random walk
- constraint programming
- graph representation
- constraint problems
- constraint satisfaction
- hypergraph model
- mobile robot
- integer program
- constraint propagation
- weighted graph
- global structure
- visual slam
- monocular slam
- graph partitioning
- real time
- bipartite graph
- graph matching
- spectral clustering
- combinatorial optimization
- kalman filter
- structured data
- multi modal
- image sequences