
The core message of this paper is that maximizing the algebraic connectivity (Fiedler value) of a pose-graph SLAM measurement graph is an effective approach for producing sparse subgraphs that retain the accuracy of maximum-likelihood estimators applied to the original, dense graph.


coremsg

maximizing-algebraic-connectivity-for-efficient-graph-sparsification-in-pose-graph-slam


Maximizing Algebraic Connectivity for Efficient Graph Sparsification in Pose-Graph SLAM


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This paper presents an efficient hybrid localization framework and techniques for detailed processing of 3D point cloud data to enable autonomous navigation and inspection of high-voltage electrical substations in rough terrain using a ground vehicle.


efficient-localization-and-mapping-for-autonomous-inspection-of-high-voltage-substations-in-rough-terrain


Efficient Localization and Mapping for Autonomous Inspection of High-Voltage Substations in Rough Terrain
