NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows
Qiangqiang Huang,Can Pu,Dehann Fourie,Kasra Khosoussi,Jonathan P. How,John J. Leonard,Qiangqiang Huang,Can Pu,Dehann Fourie,Kasra Khosoussi,Jonathan P. How,John J. Leonard
This paper presents a novel non-Gaussian inference algorithm, Normalizing Flow iSAM (NF-iSAM), for solving SLAM problems with non-Gaussian factors and/or non-linear measurement models. NF-iSAM exploits the expressive power of neural networks, and trains normalizing flows to draw samples from the joint posterior of non-Gaussian factor graphs. By leveraging the Bayes tree, NF-iSAM is able to exploit...
