Building a 3-D Line-Based Map Using Stereo SLAM.
Guoxuan ZhangJin Han LeeJongwoo LimIl Hong SuhPublished in: IEEE Trans. Robotics (2015)
Keyphrases
- loop closing
- three dimensional
- mobile robot
- maximum a posteriori
- line segments
- map building
- computer vision
- stereo images
- simultaneous localization and mapping
- stereo matching
- mobile robotics
- robot moves
- omni directional
- disparity estimation
- topological map
- autonomous navigation
- robot navigation
- data association
- image sequences