Graph-based SLAM: A survey

被引：16
作者：
Liang, Mingjie [1 ]
Min, Huaqing [2 ]
Luo, Ronghua [1 ]
机构：
[1] School of Computer Science and Engineering, South China University of Technology
[2] School of Software Engineering, South China University of Technology
来源：
Jiqiren/Robot | 2013年 / 35卷 / 04期
关键词：
Graph optimization; Loop closure detection; Registration; Simultaneous localization and mapping;
D O I：
10.3724/SP.J.1218.2013.00500
中图分类号：
学科分类号：
摘要：
Graph-based simultaneous localization and mapping (SLAM) is currently a hot research topic in the field of robotics. Frame-to-frame alignment, loop closure detection and graph optimization are three main aspects in graph-based SLAM. For each aspect, the key techniques and current progress are discussed, and the difficult problems and the possible solutions are also analyzed. Finally, the potential future issues and research trends are explored.
引用
收藏
页码：500 / 512
页数：12
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