Vision-Based Probabilistic Map Estimation with an Inclined Surface Grid for Rough Terrain Rover Navigation.
Teppei SaitohMasataka SuzukiYoji KurodaPublished in: Adv. Robotics (2010)
Keyphrases
- rough terrain
- map estimation
- maximum a posteriori
- autonomous navigation
- maximum likelihood
- markov random field
- visual odometry
- three dimensional
- probabilistic model
- mobile robot
- surface reconstruction
- noisy images
- humanoid robot
- vision system
- real time
- motion planning
- em algorithm
- d objects
- image reconstruction
- dynamic environments
- range data
- expectation maximization
- bayesian networks
- pairwise
- image processing
- computer vision