Active SLAM With Prior Topo-Metric Graph Starting At Uncertain Position.
Wuyang XueRendong YingFei WenYuanpei ChenPeilin LiuPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- mobile robot
- topological map
- prior knowledge
- simultaneous localization and mapping
- structured data
- graph theory
- metric space
- decision making
- graph model
- indoor environments
- random walk
- similarity metric
- directed graph
- spanning tree
- weighted graph
- prior information
- connected components
- dynamic environments
- loop closing
- robot moves
- graph matching
- graph databases
- metric learning
- bipartite graph
- starting point
- particle filter
- image segmentation