Fast SLAM using polar scan matching and particle weight based occupancy grid map for mobile robot.
Hyun Chul RohChang Hun SungMin Tae KangMyung Jin ChungPublished in: URAI (2011)
Keyphrases
- mobile robot
- map building
- loop closing
- simultaneous localization and mapping
- topological map
- indoor environments
- robot navigation
- robot moves
- loop closure
- robot localization
- mobile robotics
- obstacle avoidance
- map matching
- mobile robot navigation
- motion control
- dynamic environments
- simultaneous localization and map building
- multi robot
- path planning
- matching algorithm
- unknown environments
- autonomous robots
- autonomous navigation
- motion planning
- outdoor environments
- proposal distribution
- pattern matching
- visual odometry
- graph matching
- image matching
- maximum a posteriori
- kalman filter
- scan data
- polar coordinates
- visual slam
- mobile robot localization
- feature matching
- keypoints
- zernike moments