Appearance-based mapping and localization for mobile robots using a feature stability histogram.
Bladimir BaccaJoaquim SalviXavier CufíPublished in: Robotics Auton. Syst. (2011)
Keyphrases
- mobile robot
- loop closing
- robot localization
- mobile robot localization
- simultaneous localization and mapping
- path planning
- map building
- obstacle avoidance
- dynamic environments
- simultaneous localization and map building
- motion planning
- image features
- robot control
- multi robot
- robotic systems
- color images
- feature vectors
- mobile robotics
- loop closure
- autonomous robots
- real robot
- feature values
- neural network
- indoor environments
- gray level
- computer vision