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|Title:||Generic node removal for factor-graph SLAM|
|Citation:||IEEE Transactions on Robotics, 2014; 30(6):1371-1385|
|Nicholas Carlevaris-Bianco, Michael Kaess, and Ryan M. Eustice|
|Abstract:||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–Leibler 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 h of real-world indoor–outdoor data covering 147.4 km collected over 27 mapping sessions spanning a period of 15 months.|
|Keywords:||Factor-graphs; long-term autonomy; marginalization; mobile robotics; simultaneous localization and mapping (SLAM)|
|Rights:||© 2014 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.|
|Appears in Collections:||Computer Science publications|
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