Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1714996 | Acta Astronautica | 2013 | 17 Pages |
Abstract
⺠Experimental characterization of heterogeneous measurement outlier rejection schemes. ⺠Formulation of a batch classification criterion that retains measurement independence. ⺠Development of robust components compatible with existing surface mapping frameworks. ⺠First algorithm that is able to handle odometry outliers in the SLAM scenario. ⺠Experimental results demonstrate significant improvement over the state-of-the-art.
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Authors
Chi Hay Tong, Timothy D. Barfoot,