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Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection
2018
Robotics: Science and Systems XIV
Inter-robot loop closure detection is a core problem in collaborative SLAM (CSLAM). Establishing inter-robot loop closures is a resource-demanding process, during which robots must consume a substantial amount of mission-critical resources (e.g., battery and bandwidth) to exchange sensory data. However, even with the most resource-efficient techniques, the resources available onboard may be insufficient for verifying every potential loop closure. This work addresses this critical challenge by
doi:10.15607/rss.2018.xiv.071
dblp:conf/rss/TianKGHK18
fatcat:bteb5pn3njaare7i7vnhctheme