A polynomial-time algorithm to find the shortest cycle basis of a graph
SIAM Journal on Computing
A Polynomial Time Algorithm to Find the Minimum Cycle Basis of a Regular Matroid
SWAT '02 Proceedings of the 8th Scandinavian Workshop on Algorithm Theory
Minimum Cycle Bases for Network Graphs
Algorithmica
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
International Journal of Robotics Research
Implementing minimum cycle basis algorithms
Journal of Experimental Algorithmics (JEA)
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Minimum cycle bases: Faster and simpler
ACM Transactions on Algorithms (TALG)
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments
IEEE Transactions on Robotics
Closing the Loop With Graphical SLAM
IEEE Transactions on Robotics
Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM
IEEE Transactions on Robotics
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
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In this paper we describe an algorithm to compute cycle constraints that can be used in many graph-based SLAM algorithms; we exemplify it in Hierarchical SLAM. Our algorithm incrementally computes the minimum cycle basis of constraints from which any other cycle can be derived. Cycles in this basis are local and of minimum length, so that the associated cycle constraints have less linearization problems. This also permits to construct regional maps, that is, it makes possible efficient and accurate intermediate mapping levels between local maps and the whole global map. We have extended our algorithm to the multi-robot case. We have tested our methodology using the Victoria Park data set with satisfactory results.