Investigation of Camera-Based Loop-Closing Techniques for EKF-SLAM.
Lukas PröhlRicus HusmannVinzenz BirrHarald AschemannPublished in: ICSTCC (2022)
Keyphrases
- loop closing
- simultaneous localization and mapping
- monocular slam
- outdoor environments
- visual slam
- mobile robot
- extended kalman filter
- visual odometry
- particle filter
- dynamic environments
- kalman filter
- mobile robotics
- single camera
- data association
- monocular camera
- indoor environments
- real environment
- vision system
- robot navigation
- camera calibration
- field of view
- real time
- video camera
- camera parameters
- multiple cameras
- map building
- object tracking
- topological map
- position and orientation
- loop closure
- autonomous robots
- focal length