Modeling Perceptual Aliasing in SLAM via Discrete–Continuous Graphical Models

Modeling Perceptual Aliasing in SLAM via Discrete–Continuous Graphical Models

© 2016 IEEE. Perceptual aliasing is one of the main causes of the failure for simultaneous localization and mapping (SLAM) systems operating in the wild. Perceptual aliasing is a phenomenon where different places generate a similar visual (or, in general, perceptual) footprint. This causes spurious...

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Bibliographic Details
Main Authors: Lajoie, Pierre-Yves, Hu, Siyi, Beltrame, Giovanni, Carlone, Luca
Other Authors: Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2021
Online Access:https://hdl.handle.net/1721.1/136194

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