Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps.
Fabian BlöchligerMarius FehrMarcin DymczykThomas SchneiderRoland SiegwartPublished in: ICRA (2018)
Keyphrases
- visual slam
- topological map
- simultaneous localization and mapping
- mobile robot
- robot navigation
- real time
- indoor environments
- dynamic environments
- camera motion
- bundle adjustment
- mobile robotics
- structure from motion
- kalman filter
- autonomous navigation
- monocular camera
- particle filter
- extended kalman filter
- data association
- autonomous robots
- video sequences
- three dimensional