Toward SLAM on graphs

DOI10.1007/978-3-642-00312-7_39MaRDI QIDQ3079508zbMATH OpenOpenAlexFDO

Authors Avik De, Jusuk Lee, Nicholas Keller, Noah J. Cowan

Publication date 2 March 2011

Published in Springer Tracts in Advanced Robotics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-642-00312-7_39

Mathematics Subject Classification ID

Graph theory (including graph drawing) in computer science (68R10) Artificial intelligence for robotics (68T40)

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• Voronoi graph matching for robot localization and mapping
• Combining odometry and visual loop-closure detection for consistent topo-metrical mapping
• SIFT based graphical SLAM on a packbot
• Topological SLAM
• A tree parameterization for efficiently computing maximum likelihood maps using gradient descent
• Spatially-adaptive learning rates for online incremental SLAM
• BS-SLAM: shaping the world
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• Local Frame Junction Trees in SLAM

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