Real-Time Lidar Odometry and Mapping with Loop Closure.
Yonghui LiuWeimin ZhangFangxing LiZhengqing ZuoQiang HuangPublished in: Sensors (2022)
Keyphrases
- loop closure
- simultaneous localization and mapping
- real time
- map building
- mobile robot
- error accumulation
- outdoor environments
- bundle adjustment
- loop closing
- particle filter
- kalman filter
- visual odometry
- robot navigation
- structure from motion
- real environment
- indoor environments
- data association
- point cloud
- data fusion
- dynamic environments
- vision system
- video sequences