Visual topological SLAM and global localization.
Adrien AngeliStéphane DoncieuxJean-Arcady MeyerDavid FilliatPublished in: ICRA (2009)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- topological map
- loop closing
- low level
- map building
- visual information
- dynamic environments
- object and scene recognition
- topological properties
- indoor environments
- spatial relations
- kalman filter
- object recognition
- robot localization
- robot navigation
- position information
- visual landmarks
- simultaneous localization and map building
- data association
- visual perception
- computer vision
- visual features
- particle filter
- image classification
- high level