Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching.
Hauke StrasdatCyrill StachnissMaren BennewitzWolfram BurgardPublished in: AMS (2007)
Keyphrases
- feature matching
- simultaneous localization and mapping
- image pairs
- feature extraction and matching
- matching algorithm
- image matching
- object recognition
- mobile robot
- image registration
- object and scene recognition
- graph matching
- feature points
- kalman filter
- dynamic environments
- geometric constraints
- data association
- mobile robotics
- robot navigation
- indoor environments
- particle filter
- stereo pair