PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation.
Xiangcheng HuLinwei ZhengJin WuRuoyu GengYang YuHexiang WeiXiaoyu TangLujia WangJianhao JiaoMing LiuPublished in: CoRR (2024)
Keyphrases
- mobile robot
- simultaneous localization and mapping
- parameter estimation
- extended kalman filter
- prior knowledge
- degrees of freedom
- estimation error
- data association
- accurate estimation
- dynamic environments
- conditional probabilities
- motion planning
- estimation algorithm
- indoor environments
- visual slam
- angular velocity