Development of Visual Simultaneous Localization and Mapping (VSLAM) for a Pipe Inspection Robot.
Dennis KrysHomayoun NajjaranPublished in: CIRA (2007)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- mobile robotics
- robot localization
- dynamic environments
- indoor environments
- loop closing
- data association
- unknown environments
- robot navigation
- visual slam
- extended kalman filter
- robot moves
- particle filter
- visual odometry
- information filter
- kalman filter
- detection and tracking of moving objects
- object and scene recognition
- path planning
- outdoor environments
- vision sensor
- map building
- object recognition
- three dimensional
- real environment
- autonomous robots
- motion planning
- visual information
- virtual environment
- vision system
- video sequences
- computer vision