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Pose-graph SLAM sparsification using factor descent

  • Published:2019-09 Issue: Volume:119 Page:108-118
  • ISSN:0921-8890
  • Container-title:Robotics and Autonomous Systems
  • language:en
  • Short-container-title:Robotics and Autonomous Systems

Author:

Vallvé Joan,Solà Joan,Andrade-Cetto Juan

Funder

Spanish Ministry of Economy and Competitiveness Project EB-SLAM

EU H2020 Project LOGIMATIC

Spanish State Research Agency

Publisher

Elsevier BV

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference24 articles.

1. iSAM2: Incremental smoothing and mapping using the Bayes tree;Kaess;Int. J. Robot. Res.,2011

2. SLAM++-A Highly efficient and temporally scalable incremental SLAM framework;Ila;Int. J. Robot. Res.,2017

3. Keyframe-based visual-inertial odometry using nonlinear optimization;Leutenegger;Int. J. Robot. Res.,2015

4. High-precision, consistent EKF-based visual-inertial odometry;Li;Int. J. Robot. Res.,2013

5. Hierarchical optimization on manifolds for online 2D and 3D mapping;Grisetti,2010

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1. Cognitive robotics: Deep learning approaches for trajectory and motion control in complex environment;Advanced Engineering Informatics;2024-04

2. Fast Bi-Monocular Visual Odometry Using Factor Graph Sparsification;2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2023-10-01

3. LiDAR-Based Sensor Fusion SLAM and Localization for Autonomous Driving Vehicles in Complex Scenarios;Journal of Imaging;2023-02-20

4. Two-Dimensional-Simultaneous Localisation and Mapping Study Based on Factor Graph Elimination Optimisation;Sustainability;2023-01-08

5. Keeping Less is More: Point Sparsification for Visual SLAM;2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2022-10-23
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