A 2D Laser SLAM Graph Optimization Based On A Position And Angle Partition And Cholesky Decomposition

The traditional 2D laser slam back-end graph optimization (LSBGO) is not efficient in some special situations, such as fast scene switching, limited computing time, and limited hardware facilities. This paper presents a partitioned pose vector method (PPVM) to optimize a pose vector by dividing it i...

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Bibliographic Details
Published in:Journal of Applied Science and Engineering
Main Authors: Liangliang Gao, Chaoyi Dong, Xiaoyang Liu, Qifan Ye, Kang Zhang, Xiaoyan Chen
Format: Article
Language:English
Published: Tamkang University Press 2023-02-01
Subjects:
laser slam
graph optimization
cholesky decomposition
matlab
Online Access:http://jase.tku.edu.tw/articles/jase-202309-26-9-0006

Internet

http://jase.tku.edu.tw/articles/jase-202309-26-9-0006

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