A relative map approach to SLAM based on shift and rotation invariants.
Agostino MartinelliViet NguyenNicola TomatisRoland SiegwartPublished in: Robotics Auton. Syst. (2007)
Keyphrases
- invariant features
- loop closing
- map building
- mobile robot
- simultaneous localization and mapping
- maximum a posteriori
- robot navigation
- visual slam
- topological map
- particle filter
- image segmentation
- moment invariants
- indoor environments
- affine invariant
- path planning
- projective invariants
- maximum likelihood
- robot moves