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AEROS: AdaptivE RObust Least-Squares for Graph-Based SLAM
In robot localisation and mapping, outliers are unavoidable when loop-closure measurements are taken into account. A single false-positive loop-closure can have a very negative impact on SLAM problems causing an inferior trajectory to be produced or even for the optimisation to fail entirely. To add...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2022
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9010720/ https://www.ncbi.nlm.nih.gov/pubmed/35433840 http://dx.doi.org/10.3389/frobt.2022.789444 |