Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows

1 code implementation • 2 Oct 2021 • Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard

This paper presents normalizing flows for incremental smoothing and mapping (NF-iSAM), a novel algorithm for inferring the full posterior distribution in SLAM problems with nonlinear measurement models and non-Gaussian factors.

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