Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Human-in-the-Loop SLAM   Building large-scale, globally consistent maps is a challenging problem, made
more difficult in environments with limited access, sparse features, or when
using data collected by novice users. For such scenarios, where
state-of-the-art mapping algorithms produce globally inconsistent maps, we
introduce a systematic approach to incorporating sparse human corrections,
which we term Human-in-the-Loop Simultaneous Localization and Mapping
(HitL-SLAM). Given an initial factor graph for pose graph SLAM, HitL-SLAM
accepts approximate, potentially erroneous, and rank-deficient human input,
infers the intended correction via expectation maximization (EM),
back-propagates the extracted corrections over the pose graph, and finally
jointly optimizes the factor graph including the human inputs as human
correction factor terms, to yield globally consistent large-scale maps. We thus
contribute an EM formulation for inferring potentially rank-deficient human
corrections to mapping, and human correction factor extensions to the factor
graphs for pose graph SLAM that result in a principled approach to joint
optimization of the pose graph while simultaneously accounting for multiple
forms of human correction. We present empirical results showing the
effectiveness of HitL-SLAM at generating globally accurate and consistent maps
even when given poor initial estimates of the map.

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The categories of this paper are: cmp-lg
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The categories of this paper are: funct-an
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The categories of this paper are: mtrl-th
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The categories of this paper are: nucl-th
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The categories of this paper are: hep-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: astro-ph
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The categories of this paper are: alg-geom
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The categories of this paper are: hep-lat
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The categories of this paper are: ao-sci
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The categories of this paper are: bayes-an
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The categories of this paper are: plasm-ph
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The categories of this paper are: q-bio
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The categories of this paper are: math
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The categories of this paper are: dg-ga
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The categories of this paper are: q-alg