Nandan Banerjee

2 accepted papers

2019

View management for lifelong visual maps

Nandan Banerjee, Ryan C. Connolly, Dimitri Lisin, Jimmy Briggs, Mario E. Munich

IROS 2019poster

The time complexity of making observations and loop closures in a graph-based visual SLAM system is a function of the number of views stored [1], [2]. Clever algorithms, such as approximate nearest neighbor search, can make this function sub-linear. Despite this, over time the number of views can st…

Cited by 12 Source ↗Scholar ↗

2018

Fast Nonlinear Approximation of Pose Graph Node Marginalization

Duy-Nguyen Ta, Nandan Banerjee, Stephen Eick, Scott Lenser, Mario E. Munich

ICRA 2018poster

We present a fast nonlinear approximation method for marginalizing out nodes on pose graphs for longterm simultaneous localization, mapping, and navigation. Our approximation preserves the pose graph structure to leverage the rich literature of pose graphs and optimization schemes. By re-parameteriz…

Cited by 9 Source ↗Scholar ↗