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Type: Conference paper
Title: Trajectory alignment and evaluation in SLAM: Horn’s method vs alignment on the manifold
Author: Salas, M.
Latif, Y.
Reid, I.
Montiel, J.
Citation: Proceedings of Robotics: Science and Systems Workshop: The problem of mobile sensors, 2015, pp.1-3
Publisher: Robotics: Science and Systems
Issue Date: 2015
Conference Name: Robotics: Science and Systems Workshop: The problem of mobile sensors (RSS 2015) (13 Jul 2015 - 17 Jul 2015 : Rome, Italy)
Statement of
Marta Salas, Yasir Latif, Ian D. Reid, J.M.M. Montiel
Abstract: Under the assumption of identical covariance at each pose, Horn's method finds an aligning transform that is quite similar to the one found using an optimization on the manifold.
Description: The Problem of Mobile Sensors: Setting future goals and indicators of progress for SLAM Workshop in conjunction with RSS 2015
Rights: Copyright status unknown
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