Towards persistent indoor appearance-based localization, mapping and navigation using CAT-Graph.
William P. MaddernMichael MilfordGordon F. WyethPublished in: IROS (2012)
Keyphrases
- indoor environments
- topological map
- loop closing
- robot localization
- mobile robot
- indoor navigation
- outdoor environments
- simultaneous localization and mapping
- graph representation
- structured data
- directed graph
- graph matching
- graph theory
- object detection
- weighted graph
- connected components
- spanning tree
- object localization
- navigation systems
- graph based algorithm
- graph structure
- loop closure
- random graphs
- graph databases
- graph mining
- structured environments
- random walk