Robust Incremental Smoothing and Mapping (riSAM)
Daniel McGann,John G. Rogers,Michael Kaess,Daniel McGann,John G. Rogers,Michael Kaess
This paper presents a method for robust optimization for online incremental Simultaneous Localization and Mapping (SLAM). Due to the NP-Hardness of data association in the presence of perceptual aliasing, tractable (approximate) approaches to data association will produce erroneous measurements. We require SLAM back-ends that can converge to accurate solutions in the presence of outlier measuremen...
