Robocentric map joining: Improving the consistency of EKF-SLAM.
José A. CastellanosRuben Martinez-CantinJuan D. TardósJosé NeiraPublished in: Robotics Auton. Syst. (2007)
Keyphrases
- simultaneous localization and mapping
- monocular slam
- loop closing
- map building
- extended kalman filter
- mobile robot
- single camera
- kalman filter
- visual slam
- data association
- particle filter
- maximum a posteriori
- mobile robotics
- topological map
- dynamic environments
- indoor environments
- loop closure
- robot navigation
- kalman filtering
- computer simulation
- constraint networks
- real time
- markov random field
- image sequences