Temporally scalable visual SLAM using a reduced pose graph

Temporally scalable visual SLAM using a reduced pose graph

In this paper, we demonstrate a system for temporally scalable visual SLAM using a reduced pose graph representation. Unlike previous visual SLAM approaches that maintain static keyframes, our approach uses new measurements to continually improve the map, yet achieves efficiency by avoiding adding r...

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Bibliographic Details
Main Authors: Johannsson, Hordur (Contributor), Kaess, Michael (Contributor), Fallon, Maurice Francis (Contributor), Leonard, John Joseph (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2015-06-29T15:36:59Z.
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