Keyframe-Based RGB-D SLAM for Mobile Robots with Visual Odometry in Indoor Environments Using Graph Optimization.
João Carlos Virgolino SoaresMarco Antonio MeggiolaroPublished in: LARS/SBR/WRE (2018)
Keyphrases
- indoor environments
- mobile robot
- simultaneous localization and mapping
- visual odometry
- autonomous navigation
- topological map
- path planning
- loop closing
- dynamic environments
- mobile robotics
- outdoor environments
- extended kalman filter
- autonomous robots
- robotic systems
- multi robot
- depth images
- low resolution
- image data