Dimensionality reduction for point feature SLAM problems with spherical covariance matrices

DOI10.1016/J.AUTOMATICA.2014.10.114zbMath1309.93191OpenAlexW2019884340MaRDI QIDQ2342527

Bingbing Liu, Kasra Khosoussi, Shoudong Huang, Heng Wang, Udo Frese, Gamini Dissanayake

Publication date: 28 April 2015

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/10453/33011

zbMATH Keywords

least squaresdimensionality reductionmultiple-step SLAM

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Least squares and related methods for stochastic control systems (93E24) System structure simplification (93B11) Optimal stochastic control (93E20)

Related Items (2)

Comparison of two different objective functions in 2D point feature SLAM ⋮ Linear SLAM: linearising the SLAM problems using submap joining

Uses Software

• g2o
• iSAM2

Cites Work

• Unnamed Item
• The nonlinearity structure of point feature SLAM problems with spherical covariance matrices
• 6D SLAM-3D mapping outdoor environments
• Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
• Separable nonlinear least squares: the variable projection method and its applications

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