Robust sonar feature detection for the SLAM of mobile robot.
Jinwoo ChoiSungHwan AhnWan Kyun ChungPublished in: IROS (2005)
Keyphrases
- mobile robot
- feature detection
- robust detection
- indoor environments
- path planning
- obstacle avoidance
- simultaneous localization and mapping
- mobile robotics
- detection algorithm
- detection method
- preprocessing
- scale space
- keypoints
- image features
- dynamic environments
- object recognition
- photometric invariant
- feature detectors
- map building
- image analysis
- loop closing
- ridge detection
- multiscale
- image processing
- real robot
- radial symmetry
- feature extraction
- computer vision