Exploring the effect of meta-structural information on the global consistency of SLAM.
Mina HeneinMontiel AbelloViorela IlaRobert E. MahonyPublished in: IROS (2017)
Keyphrases
- structural information
- global consistency
- globally consistent
- set intersection
- structural similarity
- mobile robot
- global information
- convex constraints
- path consistency
- simultaneous localization and mapping
- consistency checking
- structural features
- logical structure
- semantic information
- particle filter
- tractable subclasses
- databases
- temporal constraints
- topological information
- dynamic environments