Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation
Dehann Fourie,Nicholas R. Rypkema,Pedro Vaz Teixeira,Sam Claassens,Erin Fischell,John Leonard,Dehann Fourie,Nicholas R. Rypkema,Pedro Vaz Teixeira,Sam Claassens,Erin Fischell,John Leonard
This paper presents a method for processing sparse, non-Gaussian multimodal data in a simultaneous localization and mapping (SLAM) framework using factor graphs. Our approach demonstrates the feasibility of using a sum-product inference strategy to recover functional belief marginals from highly non-Gaussian situations, relaxing the prolific unimodal Gaussian assumption. The method is more focused...
