6D SLAM - 3D mapping outdoor environments.
Andreas NüchterKai LingemannJoachim HertzbergHartmut SurmannPublished in: J. Field Robotics (2007)
Keyphrases
- outdoor environments
- simultaneous localization and mapping
- loop closure
- loop closing
- mobile robot
- indoor environments
- unknown environments
- dynamic environments
- map building
- mobile robotics
- kalman filter
- surveillance system
- error accumulation
- data association
- robot motion
- particle filter
- bundle adjustment
- three dimensional
- autonomous navigation
- path planning
- real time
- topological map
- autonomous robots
- robotic systems
- structure from motion
- gaussian mixture model