Consistent mapping of multistory buildings by introducing global constraints to graph-based SLAM.
Michael KargKai M. WurmCyrill StachnissKlaus C. J. DietmayerWolfram BurgardPublished in: ICRA (2010)
Keyphrases
- global constraints
- loop closing
- constraint programming
- boolean constraints
- constraint satisfaction problems
- mobile robot
- weighted constraint satisfaction
- arc consistency
- symmetry breaking
- parameterized complexity
- constraint satisfaction
- semi supervised
- simultaneous localization and mapping
- integer programming
- data exchange
- loop closure
- objective function