Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots using Geometric Constraints.
Kai Oliver ArrasJosé A. CastellanosRoland SiegwartPublished in: ICRA (2002)
Keyphrases
- geometric constraints
- mobile robot
- mobile robot localization
- loop closing
- object matching
- robot localization
- geometric properties
- map building
- camera calibration
- epipolar geometry
- path planning
- multiple moving objects
- particle filter
- simultaneous localization and mapping
- geometric consistency
- camera pose
- multi robot
- consistency constraints
- multiple images
- feature correspondences
- image features
- object tracking
- visual hull
- motion analysis
- feature extraction
- feature space
- kalman filter
- facial expressions
- feature tracking
- image sequences
- multiple objects
- image pairs