Ground-optimized SLAM with Hierarchical Loop Closure Detection in Large-scale Environment.
Huilin YinMina SunLinchuan ZhangJun YanJohannes BetzPublished in: ITSC (2023)
Keyphrases
- loop closure
- simultaneous localization and mapping
- mobile robot
- outdoor environments
- map building
- mobile robotics
- error accumulation
- indoor environments
- dynamic environments
- bundle adjustment
- unknown environments
- kalman filter
- real time
- loop closing
- multi robot
- topological map
- robot navigation
- real environment
- autonomous robots
- obstacle avoidance
- computer vision
- autonomous vehicles
- data association
- robotic systems
- surveillance system
- particle filter
- object detection
- search space
- real world