Preventing and Correcting Mistakes in Lifelong Mapping
2021 European Conference on Mobile Robots (ECMR)(2021)
摘要
A Graph SLAM system is only as good as the edges in its pose graph. Critical mistakes in the generation of these edges can instantly render a map inconsistent, misleading, and ultimately unusable. For a lifelong mapping system, where the map is updated continuously, avoiding these errors altogether is infeasible. Instead, we propose a system for detection of and recovery from severe errors in edge...
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