Deformation-based loop closure for large scale dense RGB-D SLAM.
Thomas WhelanMichael KaessJohn J. LeonardJohn B. McDonaldPublished in: IROS (2013)
Keyphrases
- loop closure
- simultaneous localization and mapping
- indoor environments
- mobile robot
- loop closing
- error accumulation
- bundle adjustment
- camera tracking
- outdoor environments
- map building
- particle filter
- image registration
- unknown environments
- data association
- mobile robotics
- real world
- topological map
- robot navigation
- human motion
- kalman filter
- dynamic environments
- computer vision