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1 CAS - ARC Centre of Excellence for Autonomous Systems

Abstract : Designing filters exploiting the sparseness of the information matrix for effciently solving the simultaneous localization and mapping SLAM problem has attracted significant attention during the recent past. The main contribution of this paper is a review of the various sparse information filters proposed in the literature to date, in particular, the compromises used to achieve sparseness. Two of the most recent algorithms that the authors have implemented, Exactly Sparse Extended Information Filter ESEIF by Walter et al. 5 and the D-SLAM by Wang et al. 6 are discussed and analyzed in detail. It is proposed that this analysis can stimulate developing a framework suitable for evaluating the relative merits of SLAM algorithms.

Autor: Zhan Wang - Shoudong Huang - Gamini Dissanayake -



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