15 Jul

BOEM SLAM simulation of expanding window

Tsang-Kai Chang slam

sim_exp_win

We simulation these SLAM algorithms with increasing duration. We can see that the estimation accuracy is comparable among 3 SLAM algorithms, but the processing times are different. The processing time is basically dominated by the optimization problem. The bigger the optimization problem, the longer the algorithm it takes. This is the main explanation that opt. has the longest estimation time. While BOEM is an online algorithm, it has the least processing time.

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