• Fast Incremental Square Root Information Smoothing 

      Kaess, Michael; Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyIJCAI, 2007-01)
      We propose a novel approach to the problem of simultaneous localization and mapping (SLAM) based on incremental smoothing, that is suitable for real-time applications in large-scale environments. The main advantages ...