Real-time robot topological localization and mapping with limited visual sampling in simulated buried pipe networks.
Xiangyu S. LiT. L. NguyenAnthony G. CohnMehmet Remzi DogarNetta CohenPublished in: Frontiers Robotics AI (2023)
Keyphrases
- real time
- loop closing
- vision system
- real environment
- visual landmarks
- topological map
- mobile robot
- visual feedback
- simultaneous localization and mapping
- landmark recognition
- social networks
- simulated robot
- visual input
- outdoor environments
- inertial sensors
- visual features
- visual information
- robot localization
- robot navigation
- real robot
- low cost
- network structure
- path planning
- real time rendering
- topological features
- robot manipulators
- robot control
- low level
- monte carlo localization
- smooth pursuit
- mobile robot localization
- sample size
- visual odometry
- visual navigation
- control signals
- map building
- changing environment
- augmented reality
- simulation model
- multi robot
- human robot interaction
- position and orientation