Fast relocalisation and loop closing in keyframe-based SLAM.

Raul Mur-Artal Juan D. Tardós

Published in: ICRA (2014)

Keyphrases

loop closing
simultaneous localization and mapping
mobile robot
topological map
dynamic environments
mobile robotics
indoor environments
particle filter
path planning
kalman filter
visual odometry
object detection
image classification
video frames
data association
robot navigation