IEEE - Institute of Electrical and Electronics Engineers, Inc. - Sparser Relative Bundle Adjustment (SRBA): Constant-time maintenance and local optimization of arbitrarily large maps

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Jose-Luis Blanco ; Javier Gonzalez-Jimenez ; Juan-Antonio Fernandez-Madrigal
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 70 - 77
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630558
Regular:

In this paper we defend the superior scalability of the Relative Bundle Adjustment (RBA) framework for tackling with the SLAM problem. Although such a statement was already done with the... View More

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