Graph-based SLAM using architectural floor plans without loop closure.
Masahiko HoshiYoshitaka HaraSousuke NakamuraPublished in: Adv. Robotics (2022)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- mobile robot
- loop closing
- map building
- particle filter
- dynamic environments
- structure from motion
- kalman filter
- indoor environments
- unknown environments
- path planning
- mobile robotics
- semi supervised
- reinforcement learning
- camera motion
- robot navigation
- multi view