— This paper presents the novel insight that the SLAM information matrix is exactly sparse in a delayedstate framework. Such a framework is used in view-based representations of ...
— This paper provides a novel state vector and covariance sub-matrix recovery algorithm for a recently developed submap based exactly sparse Extended Information Filter (EIF) SLA...
— The main contribution of this paper is a new SLAM algorithm for the mapping of large scale environments by combining local maps. The local maps can be generated by traditional ...