Hierarchical simultaneous localization and mapping.
Brad LisienDeryck MoralesDavid SilverGeorge KantorIoannis M. RekleitisHowie ChosetPublished in: IROS (2003)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- information filter
- kalman filter
- data association
- visual slam
- detection and tracking of moving objects
- extended kalman filter
- mobile robotics
- outdoor environments
- dynamic environments
- robot navigation
- particle filter
- indoor environments
- visual odometry
- object and scene recognition
- coarse to fine
- topological map
- real environment
- loop closing
- multiscale
- markov random field
- computational complexity
- real world