Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
A Discussion of Simultaneous Localization and Mapping
Autonomous Robots
Robocentric map joining: Improving the consistency of EKF-SLAM
Robotics and Autonomous Systems
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Exactly Sparse Delayed-State Filters for View-Based SLAM
IEEE Transactions on Robotics
Efficient data association for view based SLAM using connected dominating sets
Robotics and Autonomous Systems
Hi-index | 0.00 |
During Simultaneous Localization And Mapping, geometrical constraints are established between map features. These constraints, introduced through measurements and motion prediction, produce a bending effect in the event of closing a large loop. In this paper we present a discussion of the bending problem for trajectory based representations. Furthermore, we propose a generic approach to reduce the bending effect that exploits common geometrical constraints in human-made environments through the use of a Heading Based Curvature measurement. We show by means of experimental results that our approach increases significantly both the global and local map accuracy.