Appearance-only SLAM at large scale with FAB-MAP 2.0.
Mark CumminsPaul M. NewmanPublished in: Int. J. Robotics Res. (2011)
Keyphrases
- loop closure
- loop closing
- simultaneous localization and mapping
- mobile robot
- appearance model
- map building
- maximum a posteriori
- particle filter
- real world
- bundle adjustment
- visual slam
- topological map
- data association
- small scale
- real life
- indoor environments
- error accumulation
- dynamic environments
- image classification