NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows
Qiangqiang Huang Can Pu Dehann Fourie Kasra Khosoussi Jonathan P. How John J. Leonard Qiangqiang Huang Can Pu Dehann Fourie Kasra Khosoussi Jonathan P. How John J. Leonard
This paper presents a novel non-Gaussian inference algorithm, Normalizing Flow iSAM (NF-iSAM), for solving SLAM problems with non-Gaussian factors and/or non-linear measurement models. NF-iSAM exploits the expressive power of neural networks, and trains normalizing flows to draw samples from the joint posterior of non-Gaussian factor graphs. By leveraging the Bayes tree, NF-iSAM is able to exploit...