Matthias Holoch

2 accepted papers

2022

Detecting Invalid Map Merges in Lifelong SLAM

Matthias Holoch, Gerhard Kurz, Peter Biber

IROS 2022poster

For Lifelong SLAM, one has to deal with temporary localization failures, e.g., induced by kidnapping. We achieve this by starting a new map and merging it with the previous map as soon as relocalization succeeds. Since relocalization methods are fallible, it can happen that such a merge is invalid,…

Cited by 4 Source ↗Scholar ↗

2021

Geometry-based Graph Pruning for Lifelong SLAM

Gerhard Kurz, Matthias Holoch, Peter Biber

IROS 2021poster

Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the continuous growth of the graph and the loss of sparsity. Both prob…

Cited by 28 Source ↗Scholar ↗