{
  "$type": "site.standard.document",
  "description": "A method of solving a graph simultaneous localization and mapping (graph SLAM) for HD maps using a computing system includes partitioning a graph into a plurality of subgraphs, each of the subgraphs having all of the vertices of the graph and a subset of the edges of the graph. Constrained and…",
  "path": "/patents/1280706",
  "publishedAt": "2021-01-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/20",
    "Robert Bosch GmbH"
  ],
  "textContent": "A method of solving a graph simultaneous localization and mapping (graph SLAM) for HD maps using a computing system includes partitioning a graph into a plurality of subgraphs, each of the subgraphs having all of the vertices of the graph and a subset of the edges of the graph. Constrained and non-constrained vertices are defined for the subgraphs. An alternating direction method of multipliers (ADMM) formulation for Graph SLAM is defined using the partitioned graph. A distributed Graph SLAM algorithm is then defined in terms of the constrained and non-constrained vertices based on the ADMM formulation. The distributed Graph SLAM algorithm is then used to solve the Graph SLAM problem for HD maps.",
  "title": "Scalable Graph SLAM for HD Maps"
}