Incremental smoothing and mapping

Incremental smoothing and mapping

Incremental smoothing and mapping (iSAM) is presented, a novel approach to the simultaneous localization and mapping (SLAM) problem. SLAM is the problem of estimating an observer's position from local measurements only, while creating a consistent map of the environment. The problem is difficul...

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Bibliographic Details
Main Author: Kaess, Michael
Published: Georgia Institute of Technology 2009
Subjects:
Nonlinear estimation
Data association
Smoothing
Simultaneous localization and mapping
SLAM
Mobile robots
Robots
Mobile robots Automatic control
Autonomous robots Control systems
Computer vision
Online Access:http://hdl.handle.net/1853/26572

Internet

http://hdl.handle.net/1853/26572

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