Detecting Invalid Map Merges in Lifelong SLAM
Matthias Holoch,Gerhard Kurz,Peter Biber,Matthias Holoch,Gerhard Kurz,Peter Biber
For Lifelong SLAM, one has to deal with temporary localization failures, e.g., induced by kidnapping. We achieve this by starting a new map and merging it with the previous map as soon as relocalization succeeds. Since relocalization methods are fallible, it can happen that such a merge is invalid, e.g., due to perceptual aliasing. To address this issue, we propose methods to detect and undo inval...
