Affine-Invariant Geometric Constraints-Based High Accuracy Simultaneous Localization and Mapping

Figure 6

Processing flow of acreage constraint. Input: are corresponding pairs already flitted by order constraint. Output: are corresponding pairs processed by acreage constraint. are center of gravity of . and are used to establish a likelihood between two locations. Left part of figure is the first step of the algorithm. This step is obtaining credible and . It will be converged when size of and did not change and obtain credible and . The convergence is achieved rapidly (after 2~3 loops and then it gets converged) because, during establishing credible and , some correct matching may be rejected (overfitted). Right part of Figure 6 presents the processing of attempting to retrieve incorrectly rejected matching on the basis of credible and .