A modified stochastic gradient descent algorithm for view-based SLAM using omnidirectional images
Modification of SGD (Stochastic Gradient Descent) algorithm for a SLAM problem. Compact map representation, consisting of a reduced set of omnidirectional views. A single-computation for the robots localization. Adaption to work with omnidirectional constraints into the SGD. Improved efficiency results by considering several constraints simultaneously.
omnidirectional images sgd mobile robotics visual slam