Integrated Metric-Topological Localization by Fusing Visual Odometry, Digital Map and Place Recognition.
Shuai YangRui JiangHan WangShuzhi Sam GePublished in: ICMMI (2017)
Keyphrases
- topological map
- visual odometry
- simultaneous localization and mapping
- loop closing
- autonomous navigation
- mobile robot
- indoor environments
- robot navigation
- dynamic environments
- position information
- kalman filter
- mobile robotics
- particle filter
- extended kalman filter
- data association
- long range
- real time
- path planning
- kalman filtering
- ego motion
- image data