• Multi-Level Submap Based SLAM Using Nested Dissection 

      Ni, Kai; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      We propose a novel batch algorithm for SLAM problems that distributes the workload in a hierarchical way. We show that the original SLAM graph can be recursively partitioned into multiple-level submaps using the nested ...
    • Tectonic SAM: Exact, Out-of-Core, Submap-Based SLAM 

      Ni, Kai; Steedly, Drew; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-04)
      Simultaneous localization and mapping (SLAM) is a method that robots use to explore, navigate, and map an unknown environment. However, this method poses inherent problems with regard to cost and time. To lower ...