Incremental Pose Graph Optimization

Summary

In previous work, we showed how the SLAM problem can be cast as a non-linear optimization problem and presented a solution similar to stochastic gradient descent. We now extend our previous batch solution, allowing new constraints to be added.

Resources

Spatially-Adaptive Learning Rates for Online Incremental SLAM (PDF) (1.6 MB)

Learning rates tree data structure source code (LearningRatesTree.java)

@inproceedings{ Olson-RSS-07,
	AUTHOR    = {E. Olson and J. Leonard and S. Teller},
	TITLE     = {Spatially-Adaptive Learning Rates for Online Incremental SLAM},
	BOOKTITLE = {Proceedings of Robotics: Science and Systems},
	YEAR      = {2007},
	ADDRESS   = {Atlanta, GA, USA},
	MONTH     = {June}
}

Movies

Processing the Freiburg data set (XVID)

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