Visual Simultaneous Localization and Mapping for Sewer Pipe Networks Leveraging Cylindrical Regularity.
Rui ZhangRob WorleySarah EdwardsJonathan M. AitkenSean R. AndersonLyudmila MihaylovaPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- simultaneous localization and mapping
- object and scene recognition
- information filter
- mobile robot
- data association
- detection and tracking of moving objects
- extended kalman filter
- particle filter
- kalman filter
- dynamic environments
- indoor environments
- visual information
- visual slam
- loop closing
- visual odometry
- robot navigation
- mobile robotics
- real environment
- mean shift
- graph cuts