Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation

Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation

© 2020 IEEE. This paper presents a method for processing sparse, non-Gaussian multimodal data in a simultaneous localization and mapping (SLAM) framework using factor graphs. Our approach demonstrates the feasibility of using a sum-product inference strategy to recover functional belief marginals fr...

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Bibliographic Details
Main Authors: Fourie, Dehann, Rypkema, Nicholas R, Teixeira, Pedro Vaz, Claassens, Sam, Fischell, Erin, Leonard, John
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2022
Online Access:https://hdl.handle.net/1721.1/138848

Internet

https://hdl.handle.net/1721.1/138848

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