A Hybrid factor-graph formulation enables the first incremental iSAM2 optimization of Dynamic SLAM, achieving online rates with accuracy close to batch methods on multiple datasets.
isam: Incremental smoothing and mapping,
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Online Dynamic SLAM with Incremental Smoothing and Mapping
A Hybrid factor-graph formulation enables the first incremental iSAM2 optimization of Dynamic SLAM, achieving online rates with accuracy close to batch methods on multiple datasets.