IEEE - Institute of Electrical and Electronics Engineers, Inc. - Linear SLAM: A linear solution to the feature-based and pose graph SLAM based on submap joining

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Liang Zhao ; Shoudong Huang ; Gamini Dissanayake
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 24 - 30
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696327
Regular:

This paper presents a strategy for large-scale SLAM through solving a sequence of linear least squares problems. The algorithm is based on submap joining where submaps are built using any existing... View More

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