Abstract— In this paper we show how to optimize the computational cost and maximize consistency in EKF-based SLAM for large environments. We combine Local Mapping with Map Joinin...
This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization t...
— The main contribution of this paper is a new SLAM algorithm for the mapping of large scale environments by combining local maps. The local maps can be generated by traditional ...
— Simultaneous localization and mapping (SLAM) is a prominent feature for autonomous robots operating in undefined environments. Applications areas such as consumer robotics app...
SLAM algorithms based on local maps have been demonstrated to be well suited for mapping large environments as they reduce the computational cost and improve the consistency of the...