Efficient Sparse Pose Adjustment for 2D Mapping.pdf
Posegraphshavebecomeapopularrepresentationforsolvingthesimultaneouslocalizationandmapping(SLAM)problem.Aposegraphisasetofrobotposesconnectedbynonlinearconstraintsobtainedfromobservationsoffeaturescommontonearbyposes.Optimizinglargeposegraphshasbeenabottleneckformobilerobots,sincethe
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