Graph-based SLAM using wall detection and floor plan constraints without loop closure
Abstract This paper describes a graph-based SLAM approach using wall detection and floor plan constraints without relying on loop closure. In SLAM, loop closure is widely used to address cumulative errors. Although loop closure helps maintain the map’s relative consistency, it does not ensure the ac...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2024-12-01
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| Series: | ROBOMECH Journal |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s40648-024-00285-z |
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