An Enhanced Multi-Sensor Simultaneous Localization and Mapping (SLAM) Framework with Coarse-to-Fine Loop Closure Detection Based on a Tightly Coupled Error State Iterative Kalman Filter.
Changhao YuZichen ChaoHaoran XieYue HuaWeitao WuPublished in: Robotics (2024)
Keyphrases
- simultaneous localization and mapping
- kalman filter
- loop closure
- coarse to fine
- multi sensor
- data association
- state estimation
- extended kalman filter
- particle filter
- mobile robot
- kalman filtering
- loop closing
- object detection
- outdoor environments
- dynamic environments
- object tracking
- multiscale
- multiresolution
- data fusion
- topological map
- motion parameters
- indoor environments
- state space
- mobile robotics
- image fusion
- real time
- image registration
- multi view
- real environment
- robot navigation
- particle filtering
- multi class
- image features
- infrared
- map building
- visual information