A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps.
Stephen TullyGeorge KantorHowie ChosetPublished in: Int. J. Robotics Res. (2012)
Keyphrases
- topological map
- bayesian framework
- simultaneous localization and mapping
- globally consistent
- loop closing
- mobile robot
- indoor environments
- robot navigation
- prior knowledge
- kalman filter
- particle filter
- generative model
- data association
- dynamic environments
- mobile robotics
- autonomous navigation
- maximum a posteriori
- general theory
- expectation maximization
- high quality
- multi robot
- autonomous robots
- scene understanding
- real environment