Efficient Sparse Pose Adjustment for 2D mapping

• Published in: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 22 - 29
• Main Authors: Konolige, K, Grisetti, G, Kümmerle, Rainer, Burgard, W, Limketkai, B, Vincent, R
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2010
• Subjects: Linear systems; Optimization; Robustness; Simultaneous localization and mapping; Sparse matrices

Pose graphs have become a popular representation for solving the simultaneous localization and mapping (SLAM) problem. A pose graph is a set of robot poses connected by nonlinear constraints obtained from observations of features common to nearby poses. Optimizing large pose graphs has been a bottle...