Chapter 46 — Simultaneous Localization and Mapping

Pose graph compression for laser-based SLAM

This video illustrates pose graph compression, a technique for achieving long-term SLAM, as discussed in Chap. 46.5, Springer Handbook of Robotics, 2nd edn (2016). Reference: H. Kretzschmar, C. Stachniss: Information-theoretic compression of pose graphs for laser-based SLAM, Int. J. Robot. Res. 31(11), 1219--1230 (2012).
Cyrill Stachniss
Latitude =42.360091 , Longitude = -71.09416    (link to Google Maps)