Data-Association-Free Landmark-based SLAM
Yihao Zhang,Odin A. Severinsen,John J. Leonard,Luca Carlone,Kasra Khosoussi,Yihao Zhang,Odin A. Severinsen,John J. Leonard,Luca Carlone,Kasra Khosoussi
We study landmark-based SLAM with unknown data association: our robot navigates in a completely unknown environment and has to simultaneously reason over its own trajectory, the positions of an unknown number of landmarks in the environment, and potential data associations between measurements and landmarks. This setup is interesting since: (i) it arises when recovering from data association failu...
