Conference item icon

Conference item

GraphTinker: Outlier rejection and inlier injection for pose graph SLAM

Abstract:

In pose graph Simultaneous Localization and Mapping (SLAM) systems, incorrect loop closures can seriously hinder optimizers from converging to correct solutions, significantly degrading both localization accuracy and map consistency. Therefore, it is crucial to enhance their robustness in the presence of numerous false-positive loop closures. Existing approaches tend to fail when working with very unreliable front-end systems, where the majority of inferred loop closures are incorrect. In thi...

Expand abstract
Publication status:
Published
Peer review status:
Peer reviewed

Actions


Access Document


Files:
Publisher copy:
10.1109/IROS.2017.8206596

Authors


More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Computer Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
Societies, Other & Subsidiary Companies
Department:
Kellogg College
Oxford college:
Kellogg College
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Computer Science
Role:
Author
Publisher:
IEEE Publisher's website
Journal:
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) Journal website
Pages:
6777-6784
Host title:
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
Publication date:
2017-12-14
Acceptance date:
2017-06-15
DOI:
ISSN:
2153-0866
Source identifiers:
724879
ISBN:
9781538626825
Pubs id:
pubs:724879
UUID:
uuid:20261448-75dd-4278-80d4-c6f0879ac52f
Local pid:
pubs:724879
Deposit date:
2017-09-01

Terms of use


Views and Downloads






If you are the owner of this record, you can report an update to it here: Report update to this record

TO TOP