ORB-SLAM-CNN: Lessons in Adding Semantic Map Construction to Feature-Based SLAM.
Andrew M. WebbGavin BrownMikel LujánPublished in: TAROS (1) (2019)
Keyphrases
- loop closing
- simultaneous localization and mapping
- mobile robot
- map building
- visual slam
- monocular slam
- mobile robotics
- indoor environments
- dynamic environments
- particle filter
- object and scene recognition
- robot navigation
- visual odometry
- real time
- robot moves
- loop closure
- camera tracking
- topological map
- semantic description
- kalman filter
- semantic web
- construction process
- semantic annotation
- autonomous navigation
- cellular neural networks
- data association
- object recognition
- video sequences
- semantic knowledge