Visual loop closing using multi-resolution SIFT grids in metric-topological SLAM.
Vivek PradeepGérard G. MedioniJames D. WeilandPublished in: CVPR (2009)
Keyphrases
- loop closing
- topological map
- multiresolution
- simultaneous localization and mapping
- mobile robot
- robot navigation
- indoor environments
- autonomous navigation
- visual information
- general theory
- visual features
- object recognition
- kalman filter
- dynamic environments
- image fusion
- real time
- mobile robotics
- visual odometry
- map building
- real world