YPL-SLAM: A Simultaneous Localization and Mapping Algorithm for Point-line Fusion in Dynamic Environments.
Xinwu DuChenglin ZhangKaihang GaoJin LiuXiufang YuShusong WangPublished in: Sensors (2024)
Keyphrases
- simultaneous localization and mapping
- dynamic environments
- mobile robot
- information filter
- visual slam
- kalman filter
- detection and tracking of moving objects
- data association
- unknown environments
- path planning
- extended kalman filter
- mobile robotics
- loop closing
- visual odometry
- particle filter
- indoor environments
- dynamic programming
- real environment
- outdoor environments
- search space
- map building
- optimal solution
- kalman filtering
- computational complexity