iSAM2: Incremental smoothing and mapping using the Bayes tree

iSAM2: Incremental smoothing and mapping using the Bayes tree

We present a novel data structure, the Bayes tree, that provides an algorithmic foundation enabling a better understanding of existing graphical model inference algorithms and their connection to sparse matrix factorization methods. Similar to a clique tree, a Bayes tree encodes a factored probabili...

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Bibliographic Details
Main Authors: Kaess, Michael, Johannsson, Hordur, Roberts, Richard, Ila, Viorela, Leonard, John Joseph, Dellaert, Frank
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: Sage Publications 2013
Online Access:http://hdl.handle.net/1721.1/78894
https://orcid.org/0000-0002-8863-6550

Internet

http://hdl.handle.net/1721.1/78894
https://orcid.org/0000-0002-8863-6550

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