Geometry-based Graph Pruning for Lifelong SLAM
Gerhard Kurz,Matthias Holoch,Peter Biber,Gerhard Kurz,Matthias Holoch,Peter Biber
Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the continuous growth of the graph and the loss of sparsity. Both problems can be addressed by a graph pruning algorithm. It carefully removes vertices and edges to keep ...
