I read about incremental smoothing and mapping (iSAM) first in the paper on hector_slam (a flexible and scalable SLAM system with full 3D motion estimation by Stefan Kohlbrecher et al) and then read more about it at https://people.csail.mit.edu/kaess/isam/comparison.html

Can someone give a direct comparison of iSAM, Gmapping and Hector_mapping for planar robots? Has anyone used hector_mapping as SLAM front-end and iSAM as SLAM backend?



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