Map segmentation for simultaneous localization and mapping in ruins.
Nan WangShugen MaBin LiMinghui WangMingyang ZhaoPublished in: Adv. Robotics (2016)
Keyphrases
- simultaneous localization and mapping
- loop closing
- mobile robot
- robot localization
- information filter
- map building
- image segmentation
- dynamic environments
- topological map
- multiscale
- kalman filter
- data association
- loop closure
- mobile robotics
- visual slam
- detection and tracking of moving objects
- particle filter
- robot navigation
- extended kalman filter
- robot moves
- visual odometry
- outdoor environments
- real time
- object and scene recognition
- state space
- multiresolution
- learning algorithm