This article states an algorithm for performing optimization of the estimated pose of a mobile robot (Localization). The optimization runs in real-time, and it includes also the optimization of the Mapping process in SLAM, by availing the sparsity of the linearized system and applying the Schur complement trick with Cholesky Decomposition.
Махмуд Ж. (науч. рук. Колюбин С.А.) Real-Time Optimization Of Pose Estimation using SLAM for Mobile Robots // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2020]. URL: https://kmu.itmo.ru/digests/article/4541