Hierarchical Segment-based Optimization for SLAM
Yuxin Tian,Yujie Wang,Ming Ouyang,Xuesong Shi,Yuxin Tian,Yujie Wang,Ming Ouyang,Xuesong Shi
This paper presents a hierarchical segment-based optimization method for Simultaneous Localization and Mapping (SLAM) system. First we propose a reliable trajectory segmentation method that can be used to increase efficiency in the back-end optimization. Then we propose a buffer mechanism for the first time to improve the robustness of the segmentation. During the optimization, we use global infor...
