Ola will present an overview of certification for graph-based SLAM algorithms.
SPEAKER: Ola Rønning, postdoc at ITU.
TITLE: Certified SLAM — An Overview
ABSTRACT: When cast as an optimization problem, SLAM becomes a formidable nonlinear, time-evolving system with tightly coupled components: the robot’s pose and the map of its environment. Demonstrating that an estimator is optimal is highly desirable, but for SLAM, it appears implausible, if not infeasible. Yet, Certified SLAM seeks to do exactly this by providing a formal method for verifying optimality. In this talk, we will ask: Which formulations of SLAM admit certification? What constitutes a certificate for an estimator? And what remains to be solved?