Automatic real-time SLAM relocalization based on a hierarchical bipartite graph model.

Qiulei Dong Zhaopeng Gu Zhanyi Hu

Published in: Sci. China Inf. Sci. (2012)

Keyphrases

graph model
real time
visual slam
monocular slam
graph representation
bipartite graph
graph partitioning
mobile robot
clustering method
language model
weighted graph
graph structure
simultaneous localization and mapping
dynamic environments
similarity measure
particle filter
visual odometry
text mining
loop closure