Line Segment Based Scan Matching for Concurrent Mapping and Localization of a Mobile Robot.
Tahir YaqubMichal J. TordonJayantha KatupitiyaPublished in: ICARCV (2006)
Keyphrases
- line segments
- mobile robot
- loop closing
- simultaneous localization and mapping
- hough transform
- map building
- digital pictures
- straight line
- path planning
- matching algorithm
- semantic matching
- point features
- endpoints
- autonomous navigation
- robot localization
- visual landmarks
- straight line segments
- ontology matching
- line detection
- perspective images
- mobile robotics
- localization method
- schema matching
- obstacle avoidance
- indoor environments
- multi robot
- pattern matching
- dynamic environments
- ellipse detection
- mobile robot localization
- topological map
- matching process
- loop closure
- line correspondences
- feature points
- ontology mapping
- autonomous robots
- aerial images
- shape matching
- image matching
- single image
- particle filter
- image registration