IPC: Incremental Probabilistic Consensus-based Consistent Set Maximization for SLAM Backends
Emilio Olivastri,Alberto Pretto,Emilio Olivastri,Alberto Pretto
In SLAM (Simultaneous localization and mapping) problems, Pose Graph Optimization (PGO) is a technique to refine an initial estimate of a set of poses (positions and orientations) from a set of pairwise relative measurements. The optimization procedure can be negatively affected even by a single outlier measurement, with possible catastrophic and meaningless results. Although recent works on robus...
