Spectral Measurement Sparsification for Pose-Graph SLAM
Kevin J. Doherty,David M. Rosen,John J. Leonard,Kevin J. Doherty,David M. Rosen,John J. Leonard
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of “lifelong” SLAM, particularly under memory or computation constraints, a robot must be able to determine what information should be retained and what can safely be forgotten. In graph-based SLAM, the number of edges (measurements) in a pose graph determines b...