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Stephen Eick

2 accepted papers

2018

Fast Nonlinear Approximation of Pose Graph Node Marginalization

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 9SourceScholar