The Masked Mapper: Masked Metric Mapping
Acshi Haggenmiller,Cameron Kabacinski,Maximilian Krogius,Edwin Olson,Acshi Haggenmiller,Cameron Kabacinski,Maximilian Krogius,Edwin Olson
In this paper, we propose a flexible mapping scheme that uses a masking function (mask) to focus the attention of a pose graph SLAM (Simultaneous Localization and Mapping) system. The masking function takes the robot's observations and returns true if the robot is in an important location. State-of-the-art methods in SLAM generate dense metric lidar maps, creating precise maps at a high computatio...
