Incremental Abstraction in Distributed Probabilistic SLAM Graphs
Joseph Ortiz,Talfan Evans,Edgar Sucar,Andrew J. Davison,Joseph Ortiz,Talfan Evans,Edgar Sucar,Andrew J. Davison
Scene graphs represent the key components of a scene in a compact and semantically rich way, but are difficult to build during incremental SLAM operation because of the challenges of robustly identifying abstract scene elements and optimising continually changing, complex graphs. We present a distributed, graph-based SLAM framework for incrementally building scene graphs based on two novel compone...
