SLAM using ICP and graph optimization considering physical properties of environment.
Ryuki SuzukiRyosuke KataokaYonghoon JiHiromitsu FujiiHitoshi KonoKazunori UmedaPublished in: CoRR (2020)
Keyphrases
- mobile robot
- mobile robotics
- indoor environments
- topological map
- physical world
- dynamic environments
- optimization problems
- random walk
- genetic algorithm
- physical environment
- visual slam
- optimization algorithm
- physical space
- physical objects
- simultaneous localization and mapping
- graph representation
- graph theory
- map building
- graph properties
- range images
- structured data
- virtual world
- bipartite graph
- iterative closest point algorithm
- point cloud
- directed graph
- matching algorithm
- evolutionary algorithm
- image sequences