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gptkbp:instanceOf
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Simultaneous localization and mapping technique
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gptkbp:advantage
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Accurate loop closure correction
Efficient handling of large-scale environments
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gptkbp:application
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gptkb:Autonomous_vehicles
Augmented reality
Mobile robots
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gptkbp:challenge
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Computational complexity
Data association
Outlier rejection
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gptkbp:field
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gptkb:robot
Computer vision
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gptkbp:firstDescribed
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2006
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gptkbp:hasConcept
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Loop closure detection
Map representation as a graph
Pose graph optimization
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https://www.w3.org/2000/01/rdf-schema#label
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Graph-based SLAM
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gptkbp:notableContributor
|
gptkb:Cyrill_Stachniss
gptkb:Giorgio_Grisetti
gptkb:Wolfram_Burgard
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gptkbp:notableFor
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gptkb:HOG-Man
gptkb:TORO
gptkb:iSAM
gptkb:g2o
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gptkbp:openSource
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gptkb:Ceres_Solver
gptkb:SLAM++
gptkb:GTSAM
gptkb:g2o
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gptkbp:output
|
Optimized map
Optimized trajectory
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gptkbp:relatedTo
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gptkb:FastSLAM
gptkb:Visual_SLAM
EKF SLAM
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gptkbp:represents
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Edges represent spatial constraints
Nodes represent robot poses or landmarks
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gptkbp:usedIn
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gptkb:ROS_(Robot_Operating_System)
|
|
gptkbp:uses
|
gptkb:Graph_theory
Odometry
Sensor fusion
Landmark detection
Nonlinear least squares optimization
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gptkbp:bfsParent
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gptkb:EKF-SLAM
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gptkbp:bfsLayer
|
7
|