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Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment

Abstract:

In this paper we describe a relative approach to simultaneous localization and mapping, based on the insight that a continuous relative representation can make the problem tractable at large scales. First, it is well known that bundle adjustment is the optimal non-linear least-squares formulation for this problem, in that its maximum-likelihood form matches the definition of the Cramerĝ€"Rao lower bound. Unfortunately, computing the maximum-likelihood solution is often prohibitively expensive...

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Publication status:
Published

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Publisher copy:
10.1177/0278364910369268

Authors


Volume:
29
Issue:
8
Pages:
958-980
Host title:
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Publication date:
2010-07-01
DOI:
EISSN:
1741-3176
ISSN:
0278-3649
Source identifiers:
65807
Keywords:
Pubs id:
pubs:65807
UUID:
uuid:86ebcbd1-c88e-409e-bf51-562a04d0d5ef
Local pid:
pubs:65807
Deposit date:
2012-12-19

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