![negative square root negative square root](http://shermanalgebra.weebly.com/uploads/3/9/9/3/39936521/screen-shot-2017-05-08-at-9-47-19-am_orig.png)
Both simulation results and ac- tual SLAM experiments in large-scale environments are presented that underscore the potential of these methods as an alternative to EKF-based approaches. This paper presents the theory underlying these methods, along with an interpretation of factorization in terms of the graphical model associated with the SLAM problem. In addition, in an indirect but dramatic way, column ordering heuristicsautomatically exploit the locality inherent in the geographic nature of the SLAM problem.
![negative square root negative square root](https://i.ytimg.com/vi/JJtQmNuT-oc/hqdefault.jpg)
Such techniques have several significant advantages over the EKF: they are faster yet exact they can be used in either batch or incremental mode are better equipped to deal with non-linear process and measure- ment models and yield the entire robot trajectory, at lower cost for a large class of SLAM problems.
![negative square root negative square root](https://showme1-9071.kxcdn.com/2018/12/18/18/JiFtHsm_ShowMe_last_thumb.jpg)
or the measurement Jacobian into square root form. In particular, approaches have been looked at that factorize either the associated information matrix. Smoothing approaches have been investigated as a viable alternative to extended Kalman filter (EKF)- based solutions to the problem.
![negative square root negative square root](http://mathbitsnotebook.com/Algebra1/FunctionGraphs/CRgraph4.gif)
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