PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.
Here are the softwares and datasets that we have released to the public.
Generic Linear Constraint Node Removal
The generic linear constraint (GLC) framework provides a method to remove nodes from SLAM graphs. This can be used for graph maintenance and to reduce computational complexity during long term SLAM. GLC produces a new set of factors over the elimination clique given only the existing factors as input. The new factors can represent true dense marginalization or a sparse approximation of marginalization. GLC works in graphs with less-than-full DOF constraints (e.g., bearing-only, range-only), and avoids inconsistency found in methods based on measurement composition.
The GLC node removal code is available for download within Michael Kaess's iSAM repository available at: http://people.csail.mit.edu/kaess/isam/. Please cite paper  below if you use it.
 Generic factor-based node marginalization and edge sparsification for pose-graph SLAM
Nicholas Carlevaris-Bianco and Ryan M. Eustice, ICRA 2013. [PDF]
 Long-Term Simultaneous Localization and Mapping with Generic Linear Constraint Node Removal
Nicholas Carlevaris-Bianco and Ryan M. Eustice, IROS 2013. [PDF]
Please send questions and comments to Nick Carlevaris at <firstname.lastname@example.org>