Consistent SLAM using Local Optimization with Virtual Prior Topologies
Gastón Castro,Facundo Pessacg,Pablo De Cristóforis,Gastón Castro,Facundo Pessacg,Pablo De Cristóforis
In the present work we address the problem of achieving a consistent estimator for SLAM. We propose a novel method capable of computing approximately consistent global uncertainties without scaling in complexity with the total size of the explored area. The method allows arbitrary selection of local areas for optimization, introducing a methodology for building a virtual prior in bounded time. The...
