Flying with Cartographer: Adapting the Cartographer 3D Graph SLAM Stack for UAV Navigation.
Juraj OrsulicRobert MilijasAna BatinovicLovro MarkovicAntun IvanovicStjepan BogdanPublished in: CoRR (2021)
Keyphrases
- indoor environments
- topological map
- mobile robot
- random walk
- path planning
- graph theory
- simultaneous localization and mapping
- graph representation
- obstacle avoidance
- robot navigation
- directed graph
- autonomous navigation
- outdoor environments
- weighted graph
- directed acyclic graph
- graph model
- loop closing
- graph based algorithm
- mobile robotics
- graph theoretic
- bipartite graph
- graph matching
- connected components
- dynamic environments
- particle filter