Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments.
Bing-Jui HoPaloma SodhiPedro TeixeiraMing HsiaoTushar KusnurMichael KaessPublished in: IROS (2018)
Keyphrases
- loop closure
- topological map
- loop closing
- simultaneous localization and mapping
- dynamic environments
- map building
- mobile robot
- uncertain environments
- graph structure
- multi robot
- real environment
- virtual environment
- graph representation
- causal graph
- augmented reality
- random walk
- computer vision
- position and orientation
- graph theory
- structured data
- pose estimation
- real world
- directed graph
- d objects
- pose recovery
- error accumulation
- outdoor environments
- robot navigation
- planning problems
- vision system
- virtual world
- data association
- heuristic search
- bipartite graph
- virtual reality
- particle filter
- immersive environments
- graph model
- directed acyclic graph
- motion model
- face recognition
- robot moves
- interactive narrative
- object and scene recognition