Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps.
Alexander MillaneHelen OleynikovaJuan I. NietoRoland SiegwartCésar CadenaPublished in: IROS (2019)
Keyphrases
- distance function
- free space
- feature weights
- similarity function
- similarity search
- feature extraction
- unknown environments
- nearest neighbor
- feature vectors
- map building
- data points
- knn
- distance measure
- distance metric
- simultaneous localization and mapping
- training data
- single point
- mobile robot
- feature detection
- field of view
- image features
- star shaped