… to solve SLAM problems through optimization [4]. By exploring the sparsity of the SLAM …
model optimization to build a ICP-based localization system for autonomous mobile ground …

… In this paper, we describe a SLAM system based on pointcloud-… We seek to determine the
level of performance a SLAM … Radar SLAM approaches, we introduce our pose graph SLAM …

… the ICP error propagation estimation and shows some results regarding the ICP-based
pose-graph SLAM algorithm; the later presents the benefits of using the proposed active …

… a pose graph using the G2o optimizer. The results are compared against our prior EKF-pose-based
SLAM solution… This section discusses some issues related with the use of ICP-based …

… In recent years, there is a trend to probabilistic SLAM algorithms using, for example, …
Graph-based SLAM algorithms [5], [6] formulate the problem in terms of a pose graph where edges …

… ; our system elminates the wrong poses on the pose-graph … We expect ICP-based methods
to build clearer maps than feature… as visual inertial odometry, to our ICP-based SLAM method. …

… It is a significant improvement over the odometryand ICP-based maps (… pose-graph
relaxation for 3D-planeSLAM is introduced in Section 4. As shown in Section 5, the 3D-plane-SLAM …

… Currently, most SLAM solutions rely principally on … [4] uses a global registration procedure
[25] before ICP-based refinement, … As a back-end, our SLAM uses a standard pose graph (PG) …

… graph-based SLAM formulation by relating the nodes of the pose-graph with an existing
map… through an ICPbased matching procedure into a graph-based SLAM framework. Another …

… Note, however, that although also ICP-based this is structurally different from frame-to-map …
However, we believe this is actually only necessary when the pose graph within a sub-map …