The Influence of Micro-Hexapod Walking-Induced Pose Changes on LiDAR-SLAM Mapping Performance.
Hiroshi SekiYuhi YamamotoSumito NagasawaPublished in: Sensors (2024)
Keyphrases
- loop closure
- loop closing
- simultaneous localization and mapping
- mobile robot
- legged robots
- error accumulation
- point cloud
- outdoor environments
- pose estimation
- high resolution
- visual slam
- d objects
- dynamic environments
- bundle adjustment
- position and orientation
- data association
- humanoid robot
- indoor environments
- mobile robotics
- particle filter