Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM.
Kenny ChenRyan NemiroffBrett Thomas LopezPublished in: CoRR (2023)
Keyphrases
- simultaneous localization and mapping
- loop closing
- kalman filter
- mobile robot
- visual odometry
- map building
- inertial sensors
- dynamic environments
- mobile robotics
- data association
- indoor environments
- unknown environments
- point cloud
- robot navigation
- human perception
- visual slam
- loop closure
- extended kalman filter
- particle filter
- topological map
- dynamic model