{"id":66,"date":"2014-12-09T17:30:25","date_gmt":"2014-12-09T16:30:25","guid":{"rendered":"http:\/\/babel.isa.uma.es\/kipr\/?p=66"},"modified":"2015-07-16T15:29:24","modified_gmt":"2015-07-16T14:29:24","slug":"good-related-work-of-graph-based-slam-algorithms-that-employ-some-reduction-technique-on-the-graph-to-improve-long-term-operation-and-proposal-of-a-new-method-of-reduction","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=66","title":{"rendered":"Good related work of graph-based SLAM algorithms that employ some reduction technique on the graph to improve long-term operation, and proposal of a new method of reduction"},"content":{"rendered":"<h4>Carlevaris-Bianco, N.; Kaess, M.; Eustice, R.M., <strong>Generic Node Removal for Factor-Graph SLAM<\/strong>, Robotics, IEEE Transactions on , vol.30, no.6, pp.1371,1385, Dec. 2014. <a href=\"http:\/\/doi.org\/10.1109\/TRO.2014.2347571\" target=\"_blank\">DOI: 10.1109\/TRO.2014.2347571<\/a><\/h4>\n<blockquote><p>This paper reports on a generic factor-based method for node removal in factor-graph simultaneous localization and mapping (SLAM), which we call generic linear constraints (GLCs). The need for a generic node removal tool is motivated by long-term SLAM applications, whereby nodes are removed in order to control the computational cost of graph optimization. GLC is able to produce a new set of linearized factors over the elimination clique that can represent either the true marginalization (i.e., dense GLC) or a sparse approximation of the true marginalization using a Chow-Liu tree (i.e., sparse GLC). The proposed algorithm improves upon commonly used methods in two key ways: First, it is not limited to graphs with strictly full-state relative-pose factors and works equally well with other low-rank factors, such as those produced by monocular vision. Second, the new factors are produced in such a way that accounts for measurement correlation, which is a problem encountered in other methods that rely strictly upon pairwise measurement composition. We evaluate the proposed method over multiple real-world SLAM graphs and show that it outperforms other recently proposed methods in terms of Kullback\u2013Leibler divergence. Additionally, we experimentally demonstrate that the proposed GLC method provides a principled and flexible tool to control the computational complexity of long-term graph SLAM, with results shown for ${34.9}, {rm {h}}$ of real-world indoor\u2013outdoor data covering ${147.4}{hbox{ km}}$ collected over $27$ mapping sessions spanning a period of $15$ months.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Carlevaris-Bianco, N.; Kaess, M.; Eustice, R.M., Generic Node Removal for Factor-Graph SLAM, Robotics, IEEE Transactions on , vol.30, no.6, pp.1371,1385, <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=66\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[21],"tags":[26],"class_list":["post-66","post","type-post","status-publish","format-standard","hentry","category-mobile-robot-slam","tag-graph-based-slam"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/66"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=66"}],"version-history":[{"count":2,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/66\/revisions"}],"predecessor-version":[{"id":72,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/66\/revisions\/72"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=66"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=66"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=66"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}