BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend
Tsang-Kai Chang,Alexandra Pogue,Ankur Mehta,Tsang-Kai Chang,Alexandra Pogue,Ankur Mehta
In this paper we present BOEM-SLAM, a backend for visual-inertial SLAM systems capable of creating a globally consistent trajectory and map without retaining the entire history of data. By leveraging the hidden Markov model structure, BOEM-SLAM can summarize historical data into sufficient statistics and then discard it. As a data-efficient algorithm, BOEM-SLAM addresses the growing computational ...
