SOFT-SLAM: Computationally efficient stereo visual simultaneous localization and mapping for autonomous unmanned aerial vehicles.
Igor CvisicJosip CesicIvan MarkovicIvan PetrovicPublished in: J. Field Robotics (2018)
Keyphrases
- simultaneous localization and mapping
- unmanned aerial vehicles
- dynamic environments
- mobile robot
- path planning
- visual odometry
- information filter
- visual slam
- indoor environments
- particle filter
- extended kalman filter
- kalman filter
- search and rescue
- object and scene recognition
- mobile robotics
- data association
- outdoor environments
- loop closing
- robot navigation
- control algorithm
- visual information
- real environment
- autonomous navigation
- obstacle avoidance
- map building
- computer vision
- multi robot
- real time
- topological map
- autonomous vehicles
- human operators
- visual features
- background subtraction
- dynamic programming
- user interface