Sequence-based sparse optimization methods for long-term loop closure detection in visual SLAM.
Fei HanHua WangGuoquan HuangHao ZhangPublished in: Auton. Robots (2018)
Keyphrases
- optimization methods
- visual slam
- loop closure
- simultaneous localization and mapping
- bundle adjustment
- simulated annealing
- mobile robot
- real time
- optimization problems
- dynamic environments
- optimization method
- object detection
- robot navigation
- evolutionary algorithm
- structure from motion
- indoor environments
- mobile robotics
- point correspondences
- data association
- camera motion
- particle filter
- kalman filter
- autonomous robots
- error accumulation
- least squares