{"id":2345,"date":"2022-07-11T10:54:07","date_gmt":"2022-07-11T13:54:07","guid":{"rendered":"https:\/\/icc.fcen.uba.ar\/?p=2345"},"modified":"2022-07-11T10:54:07","modified_gmt":"2022-07-11T13:54:07","slug":"consistent-slam-using-local-optimization-with-virtual-prior-topologies","status":"publish","type":"post","link":"https:\/\/icc.fcen.uba.ar\/en\/consistent-slam-using-local-optimization-with-virtual-prior-topologies\/","title":{"rendered":"Consistent SLAM using Local Optimization with Virtual Prior Topologies"},"content":{"rendered":"<div class=\"fusion-fullwidth fullwidth-box fusion-builder-row-1 fusion-flex-container nonhundred-percent-fullwidth non-hundred-percent-height-scrolling\" style=\"--awb-border-radius-top-left:0px;--awb-border-radius-top-right:0px;--awb-border-radius-bottom-right:0px;--awb-border-radius-bottom-left:0px;--awb-flex-wrap:wrap;\" ><div class=\"fusion-builder-row fusion-row fusion-flex-align-items-flex-start fusion-flex-content-wrap\" style=\"max-width:1144px;margin-left: calc(-4% \/ 2 );margin-right: calc(-4% \/ 2 );\"><div class=\"fusion-layout-column fusion_builder_column fusion-builder-column-0 fusion_builder_column_1_1 1_1 fusion-flex-column\" style=\"--awb-bg-size:cover;--awb-width-large:100%;--awb-margin-top-large:0px;--awb-spacing-right-large:1.92%;--awb-margin-bottom-large:20px;--awb-spacing-left-large:1.92%;--awb-width-medium:100%;--awb-order-medium:0;--awb-spacing-right-medium:1.92%;--awb-spacing-left-medium:1.92%;--awb-width-small:100%;--awb-order-small:0;--awb-spacing-right-small:1.92%;--awb-spacing-left-small:1.92%;\"><div class=\"fusion-column-wrapper fusion-column-has-shadow fusion-flex-justify-content-flex-start fusion-content-layout-column\"><div class=\"fusion-text fusion-text-1\"><p>Authors: Gast\u00f3n Castro, Facundo Pessacg, Pablo De\u00a0Crist\u00f3foris.<\/p>\n<p>Abstract: In the present work we address the problem of\u00a0achieving a consistent estimator for SLAM. We propose a\u00a0novel method capable of computing approximately\u00a0consistent global uncertainties without scaling in\u00a0complexity with the total size of the explored area. The\u00a0method allows arbitrary selection of local areas for\u00a0optimization, introducing a methodology for building a\u00a0virtual prior in bounded time. The constructed prior\u00a0topologies serve as a way of contextualizing the local\u00a0optimizations, resulting in consistent uncertainty\u00a0estimations. This overcomes several shortcomings of\u00a0previous approaches that rely on conditioning (fixing\u00a0variables) and\/or sliding window marginalization.\u00a0Evaluations are presented in different simulated\u00a0scenarios comparing results against a global batch\u00a0optimization and other canonical approaches.<\/p>\n<p>More information:<br \/>\n<a href=\"https:\/\/ieeexplore.ieee.org\/document\/9636787\" target=\"_blank\" rel=\"noopener noreferrer\">https:\/\/ieeexplore.ieee.org\/document\/9636787<\/a><\/p>\n<\/div><\/div><\/div><\/div><\/div>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":9,"featured_media":2346,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[98],"tags":[],"class_list":["post-2345","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-papers"],"_links":{"self":[{"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/posts\/2345","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/users\/9"}],"replies":[{"embeddable":true,"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/comments?post=2345"}],"version-history":[{"count":1,"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/posts\/2345\/revisions"}],"predecessor-version":[{"id":2347,"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/posts\/2345\/revisions\/2347"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/media\/2346"}],"wp:attachment":[{"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/media?parent=2345"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/categories?post=2345"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/icc.fcen.uba.ar\/en\/wp-json\/wp\/v2\/tags?post=2345"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}