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Object-based SLAM utilizing unambiguous pose parameters considering general symmetry types
Existence of symmetric objects, whose observation at different viewpoints can be identical, can deteriorate the performance of simultaneous localization and mapping(SLAM).
Pose Correction Algorithm for Relative Frames between Keyframes in SLAM
With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications.
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