Online simultaneous localization and mapping with parallelization for dynamic line segments based on moving horizon estimation.
Haziq MuhammadYasumasa IshikawaKazuma SekiguchiKenichiro NonakaPublished in: Artif. Life Robotics (2024)
Keyphrases
- line segments
- simultaneous localization and mapping
- dynamic environments
- extended kalman filter
- hough transform
- information filter
- mobile robot
- real time
- ellipse detection
- perspective images
- particle filter
- kalman filter
- data association
- vanishing points
- robot navigation
- mobile robotics
- indoor environments
- loop closing
- path planning
- dynamic programming