The GraphSLAM algorithm with applications to large-scale mapping of urban structures

This article presents GraphSLAM, a unifying algorithm for the offline SLAM problem. GraphSLAM is closely related to a recent sequence of research papers on applying optimization techniques to SLAM problems. It transforms the SLAM posterior into a graphical network, representing the log-likelihood of the data. It then reduces this graph using variable elimination techniques, arriving at a lower-dimensional problems that is then solved using conventional optimization techniques. As a result, GraphSLAM can generate maps with 10(8) or more features. The paper discusses a greedy algorithm for data association, and presents results for SLAM in urban environments with occasional GPS measurements.