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Publication type: Article in Proceedings
Author: U. Frese, L. Schröder
Title: Closing a Million-Landmarks Loop
Book / Collection title: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing
Year published: 2006
Abstract: We present an improved version of the treemap SLAM algorithm which uses Cholesky factors for representing Gaussians and a Hierarchical Tree Partitioning algorithm derived from the established Kernighan-Lin heuristic for graph bisection. We demonstrate the algorithm's efficiency by mapping a simulated building with 1032271 landmarks. In the end, we close a million-landmarks loop in 21, providing an estimate for 10000 selected landmarks close to the robot, or in 442 for computing a full estimate.
Internet: http://www.informatik.uni-bremen.de/agebv/en/ClosingAMillionLandmarksLoop
PDF Version: http://www.informatik.uni-bremen.de/agebv/downloads/published/freseiros06.pdf
Status: Reviewed
Last updated: 28. 10. 2008

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