ElasticFusion: Dense SLAM Without A Pose Graph.
Thomas WhelanStefan LeuteneggerRenato F. Salas-MorenoBen GlockerAndrew J. DavisonPublished in: Robotics: Science and Systems (2015)
Keyphrases
- pose estimation
- mobile robot
- weighted graph
- graph structure
- connected components
- quasi cliques
- loop closure
- graph theory
- d objects
- simultaneous localization and mapping
- graph matching
- indoor environments
- data association
- structured data
- directed acyclic graph
- object recognition
- graph model
- pose variations
- topological map
- directed graph
- densely connected
- dynamic environments