A Nonlinear Least-Squares Approach to the SLAM Problem
نویسندگان
چکیده
In this work we present a solution to the simultaneous localisation and mapping (SLAM) problem using a camera and inertial sensors. Our approach is based on the maximum a posteriori (MAP) estimate of the complete SLAM estimate. The resulting problem is posed in a nonlinear leastsquares framework which we solve with the GaussNewton method. The proposed algorithm is evaluated on experimental data using a sensor unit mounted on an industrial robot.
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