Go Straight, Turn Right:

Pose Graph Reduction through Trajectory Segmentation using Line Segments

Yasir Latif and Jose Neira

SLAM : A mature problem

Problem: Lifelong (t → ∞) SLAM

What is interesting?

Main Idea


      For every new pose being added
	Update line to end at this pose
	make sure that all poses are with a distance Dmax
	if not:
	  find the pose (i) with the largest distance
	  terminate line at pose (i)
	  keep the two poses (start,end)
	  current start at pose (i+1), current end at this pose


Where can it be used


Thank you