PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.
Synopsis
Here are the softwares and datasets that we have released to the public.
Dig Deeper
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.
Download
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 [1] below if you use it.
Related Papers:
[1] Generic factor-based node marginalization and edge sparsification for pose-graph SLAM
Nicholas Carlevaris-Bianco and Ryan M. Eustice, ICRA 2013.
[PDF]
[2] Long-Term Simultaneous Localization and Mapping with Generic Linear Constraint Node Removal
Nicholas Carlevaris-Bianco and Ryan M. Eustice, IROS 2013.
[PDF]
Support
Please send questions and comments to Nick Carlevaris at <carlevar@umich.edu>