Graph-slam(三)
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In GraphSLAM, the map and the path are obtained from the linearized information matrix
The answer to the complexity question depends on the topology of the world. If each feature is seen only locally in time, the graph represented by the constraints is linear. Thus, can be reordered so that it becomes a band-diagonal matrix,that is,all non-zero values occur near its diagonal.The equation
The more common case, however, involves features that are observed multiple times, with large time delays in between. This might be the case because the robot goes back and forth through a corridor, or because the world possesses cycles. In either situation, there will exist features
The GraphSLAM algorithm now employs an important factorization trick, which we can think of as propagating information trough the information matrix (in fact, it is a generalization of the well-known variable elimination algorithm for matrix inversion). Suppose we would like to remove a feature
This process is illustrated in Figure 3, which shows the removal of two map features,
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